带输入饱和的欠驱动吊车非线性信息融合控制

胡洲; 王志胜; 甄子洋

doi:10.3724/SP.J.1004.2014.01522

带输入饱和的欠驱动吊车非线性信息融合控制

doi: 10.3724/SP.J.1004.2014.01522

1.
南京航空航天大学自动化学院南京 210016

基金项目:

国家自然科学基金（60874037，61304223），教育部高等学校博士学科点专项科研基金（20123218120015）资助

详细信息

作者简介:
胡洲南京航空航天大学自动化学院博士研究生. 主要研究方向为欠驱动控制，信息融合控制. E-mail：huzhou2000@163.com

计量
- 文章访问数: 1957
- HTML全文浏览量: 81
- PDF下载量: 909
- 被引次数: 0
出版历程
- 收稿日期: 2013-06-17
- 修回日期: 2013-12-16
- 刊出日期: 2014-07-20

Nonlinear Information Fusion Control for Underactuated Cranes with Input Saturation

1.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Funds:

Supported by National Natural Science Foundation of China (60874037, 61304223), and Specialized Research Fund for the Doctoral Program of Higher Education of China (20123218120015)

摘要

摘要: 针对欠驱动吊车系统的控制问题，提出了一种非线性信息融合控制方法. 通过融合二次型性能指标函数中包含的未来参考轨迹和控制能量的软约束信息，以及吊车系统状态方程和输出方程的硬约束信息，获得协状态和控制量的最优估计. 针对控制量输入饱和的问题，提出了一种控制能量软约束信息自适应调节算法，使求出的控制量满足限制要求. 信息融合控制方法基于被控对象的离散模型设计，具有易于实现的特点. 仿真结果表明了该方法的有效性.
- 信息融合控制 /
- 吊车系统 /
- 欠驱动控制 /
- 输入饱和
Abstract: For the control problem of an under-actuated crane system, a control method based on information fusion technology is presented. By fusing the soft constraints information of the future reference trajectory and the control energy in the quadratic performance index function, and the hard constraints information supplied by the crane system state equation and the output equation, the optimal estimations of the co-state sequence and the control variable are obtained. For the saturation problem of control input value, a kind of adaptive adjustment algorithm of the control energy soft constraint information is presented. The control value calculated by this algorithm satisfies the requirements of limitation. The information fusion control method is easy to be designed based on the discrete model of the controlled system. The simulation results indicate the effectiveness of this method.
- Information fusion control /
- crane system /
- under-actuated control /
- input saturation

HTML全文

参考文献(19)

[1]	Spong M. Partial feedback linearization of underactuated mechanical systems. In: Proceedings of the International Conference on Intelligent Robots and Systems. Munich, Germany: IEEE, 1994. 314-321
[2]	Sun Ning, Fang Yong-Chun. A review for the control of a class of underactuated systems. CAAI Transactions on Intelligent Systems, 2011, 6(3): 200-207(孙宁, 方勇纯. 一类欠驱动系统的控制方法综述. 智能系统学报, 2011, 6(3): 200-207)
[3]	Ma Bo-Jun, Fang Yong-Chun, Wang Yu-Tao, Jiang Zhong-Ping. Adaptive control for an underactuated overhead crane system. Control Theory & Applications, 2008, 25(6): 1105-1109(马博军, 方勇纯, 王宇韬, 姜钟平. 欠驱动桥式吊车系统自适应控制. 控制理论与应用, 2008, 25(6): 1105-1109)
[4]	Sun Ning, Fang Yong-Chun, Wang Peng-Cheng, Zhang Xue-Bo. Adaptive trajectory tracking control of underactuated 3-dimensional overhead crane systems. Acta Automatica Sinica, 2010, 36(9): 1287-1294(孙宁, 方勇纯, 王鹏程, 张雪波. 欠驱动三维桥式吊车系统自适应跟踪控制器设计. 自动化学报, 2010, 36(9): 1287-1294)
[5]	Gao Bing-Tuan, Chen Hong-Jun, Zhang Xiao-Hua. Nonlinear control for a class of underactuated mechanical systems. Control and Decision, 2006, 21(1): 104-106(高丙团, 陈宏钧, 张晓华. 一类欠驱动机械系统的非线性控制. 控制与决策, 2006, 21(1): 104-106)
[6]	Xi Z, Hesketh T. Discrete time integral sliding mode control for overhead crane with uncertainties. IET Control Theory & Applications, 2010, 4(10): 2071-2081
[7]	Chwa D. Nonlinear tracking control of 3-D overhead cranes against the initial swing angle and the variation of payload weight. IEEE Transactions on Control Systems Technology, 2009, 17(4): 876-883
[8]	Fang Y C, Ma B J, Wang P C, Zhang X B. A motion planning-based adaptive control method for an underactuated crane system. IEEE Transactions on Control Systems Technology, 2012, 20(1): 241-248
[9]	Ngo Q H, Hong K S. Adaptive sliding mode control of container cranes. IET Control Theory & Applications, 2012, 6(5): 662-668
[10]	Ngo Q H, Hong K S. Sliding-mode antisway control of an offshore container crane. IEEE/ASME Transactions on Mechatronics, 2012, 17(2): 201-209
[11]	Delgado E, Diaz-Cacho M, Bustelo D, Barreiro A. Generic approach to stability under time-varying delay in teleoperation: application to the position-error control of a gantry crane. IEEE/ASME Transactions on Mechatronics, 2013, 18(5): 1581-1591
[12]	Chang C Y, Wijaya Lie H. Real-time visual tracking and measurement to control fast dynamics of overhead cranes. IEEE Transactions on Industrial Electronics, 2012, 59(3): 1640-1649
[13]	Han Chong-Zhao, Zhu Hong-Yan, Duan Zhan-Sheng. Information Fusion from Multiple Sources. Beijing: Tsinghua University Press, 2006. 231-286(韩崇昭, 朱洪艳, 段战胜. 多源信息融合. 北京: 清华大学出版社, 2006. 231-286)
[14]	Zhou Jun, Wang Zhi-Sheng, Zhou Feng-Qi. The theory of multi-sensor system data fusion based on linear least square estimation. Journal of Astronautics, 2003, 24(4): 364-367(周军, 王志胜, 周凤岐. 基于线性均方估计的数据融合理论. 宇航学报, 2003, 24(4): 364-367)
[15]	Wang Z S, Wang D B, Zhen Z Y. Primary exploration of nonlinear information fusion control theory. Science in China Series F: Information Sciences, 2007, 50(5): 686-696
[16]	Zhen Zi-Yang, Wang Zhi-Sheng, Wang Dao-Bo. Information fusion estimation based preview control for discrete linear system. Acta Automatica Sinica, 2010, 36(2): 347-352(甄子洋, 王志胜, 王道波. 基于信息融合估计的离散线性系统预见控制. 自动化学报, 2010, 36(2): 347-352)
[17]	Zhen Zi-Yang, Wang Zhi-Sheng, Wang Dao-Bo. Predictive control based on information fusion optimal estimation for nonlinear discrete system. Acta Automatica Sinica, 2008, 34(3): 331-336(甄子洋, 王志胜, 王道波. 基于信息融合最优估计的非线性离散系统预测控制. 自动化学报, 2008, 34(3): 331-336)
[18]	Zhang Z, Un An D, Kim H, Chong K T. Comparative study of matrix exponential and Taylor series discretization methods for nonlinear ODEs. Simulation Modelling Practice and Theory, 2009, 17(2): 471-484
[19]	Wang Zhi-Sheng, Jiang Bin, Zhen Zi-Yang. Fusion Estimation and Fusion Control. Beijing: Science Press, 2009. 233-236(王志胜, 姜斌, 甄子洋. 融合估计与融合控制. 北京: 科学出版社, 2009. 233-236)