基于控制分配的过驱动系统稳定性设计方法综述

过驱动系统是一类控制输入数多于输出数的系统,冗余控制为控制器的设计提供更大自由度的同时也提出挑战。控制分配是处理冗余控制的一种常用方法,同时对驱动器故障具有一定的容错能力。但是控制分配可能会导致系统不稳定,所以设计控制器时必须考虑这种不稳定因素的影响。基于控制分配的稳定性设计方法正是针对这种情况而提出。根据不同原理,这些方法可以概括为零动态方法,优化方法,内动态方法,滑模方法,模型预测方法和智能方法等。概括了这些方法的基本思路,并指出其不足之处,进一步提出新的研究方向。

An Overview of Stability Design Methods for Overactuated Systems Based on Control Allocation

The overactuated systems have more control inputs than controlled outputs. With the redundant controls, the controller for the overactuated systems can be designed with more freedoms, and simultaneously a challenge is faced. The control allocation is one common way to tackle with the redundant controls, and has the ability of tolerating the faults of the actuators. However, the introduction of the control allocation to the controller may make the system unstable, and thus the unstabilizing factor must be co...