考虑执行器饱和与量化的六自由度气浮平台协作控制  

Cooperative control for six-degree-of-freedom air-floating platforms considering actuator saturation and quantization

作　　者：张桀睿 夏红伟[1] 温奇咏[1] 邵志杰 马广程[1] ZHANG Jierui;XIA Hongwei;WEN Qiyong;SHAO Zhijie;MA Guangcheng(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China;Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001 [2]上海航天控制技术研究所,上海201109

出　　处：《中国惯性技术学报》2023年第7期707-716,共10页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61304108);国家重点研发计划(2020YFC2200600)。

摘　　要：针对六自由度气浮平台的协作控制问题,提出了一种考虑执行器饱和与量化的固定时间控制方法。首先,基于图论和对偶四元数理论建立了多个六自由度气浮平台的通信拓扑关系和位姿耦合数学模型。其次,基于增加幂次积分器方法,设计了一种六自由度气浮平台的固定时间协作控制算法,使系统能够在一个与初始状态无关的有限时间内收敛。在不引入额外的辅助或观测系统的前提下,补偿了执行器引入的输入饱和与量化的非线性特性。最后,数字仿真实验证明了所提出的理论成果的可行性与优越性。相比传统的渐进收敛的控制器,所设计的控制器收敛精度提升了86.86%,响应速度提升了23.69%。A fixed-time control method considering actuator saturation and quantization is proposed for the collaborative control of six-degree-of-freedom air-floating platforms.Firstly,the communication topology and the position-attitude coupling mathematical model of multiple six-degree-of-freedom air-floating platforms is established based on graph theory and dual quaternion theory,respectively.Secondly,a fixed-time cooperative control algorithm for six-degree-of-freedom air-floating platforms is designed based on the adding power integrator method,which enables the system to converge in a finite time independent of the initial states.The nonlinear characteristics of input saturation and quantization introduced by the actuator are compensated without introducing additional auxiliary or observation system.Finally,numerical simulations demonstrate the feasibility and superiority of the proposed theoretical results.Compared with the traditional controller with asymptotic convergence,the designed controller improves the convergence accuracy by 86.86% and the response speed by 23.69%.

关 键 词：六自由度气浮平台 协作控制 固定时间控制 输入饱和 输入量化 

分 类 号：U666.1[交通运输工程—船舶及航道工程]