일군의 동적 논홀로노믹 기계시스템의 수동성기반 적응 및 강건 안정화 제어기법 연구

학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 8. 이동준.We present novel passivity-based stabilization control frameworks for a class of nonholonomic mechanical systems with uncertain inertial parameters. Passive configuration decomposition is first applied to configuration-level decompose the system's Lagrange-DAlembert dynamics into two separate systems. Each of these decomposed systems evolves on its respective configuration space and individually inherits Lagrangian structure and passivity from the original dynamics. Utilizing the nonlinearity and passivity of the decomposed dynamics, we then derive adaptive passivity-based time-varying control (APBVC) and robust passivity-based switching control (RPBSC) schemes, which adopt the concepts of adaptive control and sliding-mode control respectively to achieve stabilization for this certain class of nonholonomic mechanical systems. Both simulation and experimental results are provided to verify our proposed control frameworks.Chapter 1 Introduction 1 1.1 Motivation and Objectives 1 1.2 State of the Art 3 1.3 Contribution of this Work 4 Chapter 2 System Description 6 2.1 Nonholonomic Mechanical Systems with Symmetry Structure 6 2.2 Passive Configuration Decomposition 8 2.3 Control Objective 13 Chapter 3 Passivity-Based Time-Varying Control 16 3.1 Nominal Passivity-Based Time-Varying Control 16 3.2 Adaptive Passivity-Based Time-Varying Control 19 Chapter 4 Passivity-Based Switching Control 25 4.1 Nominal Passivity-Based Switching Control 25 4.2 Robust Passivity-Based Switching Control 29 Chapter 5 Simulation and Experiment 38 5.1 Simulation 38 5.2 Experiment 62 Chapter 6 Conclusion and Future Work 82 6.1 Conclusion 82 6.2 Future Work 83 Bibliography 85 요약 92Maste

Adaptive multiple-surface sliding mode control of nonholonomic systems with matched and unmatched uncertainties

The problem of stabilizing a class of nonholonomic systems in chained form affected by both matched and unmatched uncertainties is addressed in this paper. The proposed design methodology is based on a discontinuous transformation of the perturbed nonholonomic system to which an adaptive multiple-surface sliding mode technique is applied. The generation of a sliding mode allows to eliminate the effect of matched uncertainties, while a suitable function approximation technique enables to deal with the residual uncertainties, which are unmatched. The control problem is solved by choosing a particular sliding manifold upon which a second order sliding mode is enforced via a continuous control with discontinuous derivative. A positive feature of the present proposal, apart from the fact of being capable of dealing with the presence of both matched and unmatched uncertainties, is that no knowledge of the bounds of the unmatched uncertainty terms is required. Moreover, the fact of producing a continuous control makes the proposed approach particularly appropriate in nonholonomic applications, such as those of mechanical nature

Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances

The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes

Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems

This paper is devoted to the problem of modeling and trajectory tracking for stochastic nonholonomic dynamic systems in the presence of unknown parameters. Prior to tracking controller design, the rigorous derivation of stochastic nonholonomic dynamic model is given. By reasonably introducing so-called internal state vector, a reduced dynamic model, which is suitable for control design, is proposed. Based on the backstepping technique in vector form, an adaptive tracking controller is then derived, guaranteeing that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. The efficiency of the controller is demonstrated by a mechanics system: a vertical mobile wheel in random vibration environment

Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme

Global inverse optimal stabilization of stochastic nonholonomic systems

Optimality has not been addressed in existing works on control of (stochastic) nonholonomic systems.This paper presents a design of optimal controllers with respect to a meaningful cost function to globally asymptotically stabilize (in probability) nonholonomic systems affine in stochastic disturbances. The design is based on the Lyapunov direct method, the backstepping technique, and the inverse optimal control design. A class of Lyapunov functions, which are not required to be as nonlinearly strong as quadratic or quartic, is proposed for the control design. Thus, these Lyapunov functions can be applied to design of controllers for underactuated (stochastic) mechanical systems, which are usually required Lyapunov functions of a nonlinearly weak form. The proposed control design is illustrated on a kinematic cart, of which wheel velocities are perturbed by stochastic noise

Guidance of quadrotor unmanned aerial vehicles via adaptive multiple-surface sliding mode control

In many application domains, navigation of unmanned aerial vehicles (UAVs) requires a planar flight to move along a desired path or to track a moving object under uncertain conditions. In this paper, we propose a robust control approach for quadrotor UAVs performing a nonholonomic-like navigation with a predefined velocity based guidance law. Specifically, the quadrotor model is first recast in the framework of nonholonomic systems, and then an adaptive multiple-surface sliding mode approach, with suboptimal second order sliding mode control, is applied. The robustness features of the proposed approach are discussed and assessed in simulation