Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation

被引：6

作者：

Nainer, C. ^{[1
]}

Furci, M. ^{[2
]}

Seuret, A. ^{[2
]}

Zaccarian, L. ^{[1
,2
]}

Franchi, A. ^{[2
]}

机构：

[1] Univ Trento, DII, Trento, Italy

[2] Univ Toulouse, CNRS, LAAS, Toulouse, France

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Mobile Robots; Robot Control; Allocation; Over-actuated Robots; Hierarchical Control;

D O I：

10.1016/j.ifacol.2017.08.2260

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of control allocation applied to an over-actuated hovercraft-type vehicle. A hierarchical control architecture, consisting of a high level controller for trajectory tracking, and a control allocation algorithm, is developed and proved to be effective in tracking a desired trajectory while optimizing some cost related to actuator constraints. The control allocation algorithm exploits the redundancy of the system in order to keep the actuator states inside their saturation limits and tries to minimize the power consumption of the propellers. Unlike other papers on control allocation, actuator dynamics is taken into account. The control architecture is tested through simulations that well illustrate the capabilities of the proposed control design. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：12698 / 12703

页数：6

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