论文标题
强大的输出反馈VFO-ADR控制不足的空间车辆的任务是遵循非透明路径
Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths
论文作者
论文摘要
本文涉及矢量场取向的发展 - 主动扰动排斥（VFO-ADR）在3维空间中移动的车辆不足的车辆级联路径跟随控制器。级联控制结构的提议概念将系统运动学与系统动力学相似，类似于用于非体力学系统的方法。由于在动态级别的控制器中使用了ADR控制方法，因此提出的控制结构甚至对于重要的模型不确定性和外部干扰也是可靠的。在ADR内环控制器内实现的扩展状态观察者（ESO）的基于错误的形式的应用意味着控制结构的输出反馈特征，即只能测量车身的位置和态度。运动级控制器是根据使用非选象的路径表示来计算命令速度的VFO方法设计的。提出的控制结构的描述是利用输入到国家稳定性（ISS）定理的理论分析以及所提出的解决方案的仿真验证。
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded control structure decouples system kinematics from system dynamics, resembling the approach utilized for nonholonomic systems. Thanks to the use of an ADR control approach in the dynamic-level controller, the proposed control structure is robust to even significant model uncertainties and external disturbances. Application of an error-based form of the Extended State Observer (ESO), implemented within the ADR inner-loop controller, implies the output-feedback characteristic of the control structure, i.e., only position and attitude of the vehicle body are expected to be measured. The kinematic-level controller is designed according to the VFO method utilizing the non-parametrized path representation to calculate the commanded velocities. The description of the proposed control structure is followed by the theoretical analysis utilizing the Input-to-State Stability (ISS) theorem and the simulation verification of the proposed solution.
