Control no lineal de un aerodeslizador no holonómico con acciones de control limitadas
Nonlinear control of an underactuated nonholonomic hovercraft with limited control inputs
Dictino Chaos
, David Moreno-Salinas, Rocío Muñoz, Joaquín Aranda
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Departamento de Informática y Automática, Escuela Técnica Superior de Ingeniería Informática, UNED, calle Juan del Rosal 16, 28040, Madrid
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"nombre" => "Rocío" "apellidos" => "Muñoz" "email" => array:1 [ 0 => "rmunoz@dia.uned.es" ] ] 3 => array:3 [ "nombre" => "Joaquín" "apellidos" => "Aranda" "email" => array:1 [ 0 => "jaranda@dia.uned.es" ] ] ] "afiliaciones" => array:1 [ 0 => array:2 [ "entidad" => "Departamento de Informática y Automática, Escuela Técnica Superior de Ingeniería Informática, UNED, calle Juan del Rosal 16, 28040, Madrid" "identificador" => "aff0005" ] ] "correspondencia" => array:1 [ 0 => array:3 [ "identificador" => "cor0005" "etiqueta" => "⁎" "correspondencia" => "Autor para correspondencia." ] ] ] ] "titulosAlternativos" => array:1 [ "en" => array:1 [ "titulo" => "Nonlinear control of an underactuated nonholonomic hovercraft with limited control inputs" ] ] "textoCompleto" => "<span class="elsevierStyleSections"><span id="sec0005" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0025">Referencias no citadas</span><p id="par0005" class="elsevierStylePara elsevierViewall"><a class="elsevierStyleCrossRef" href="#bib0005">Aguiar et al., 2003</a>, <a class="elsevierStyleCrossRef" href="#bib0010">Aguiar and Hespanha, 2007</a>, <a class="elsevierStyleCrossRef" href="#bib0015">Aguilar-Ibáez et al., 2012</a>, <a class="elsevierStyleCrossRef" href="#bib0020">Ariaei and Jonckheere, 2006</a>, <a class="elsevierStyleCrossRef" href="#bib0025">Ashrafiuon et al., 2008</a>, <a class="elsevierStyleCrossRef" href="#bib0030">Balluchi et al., 2000</a>, <a class="elsevierStyleCrossRef" href="#bib0035">Behal et al., 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0040">Brockett, 1976</a>, <a class="elsevierStyleCrossRef" href="#bib0045">Chaos, 2010</a>, <a class="elsevierStyleCrossRef" href="#bib0050">Dong and Guo, 2005</a>, <a class="elsevierStyleCrossRef" href="#bib0055">Dumbar et al., 2003</a>, <a class="elsevierStyleCrossRef" href="#bib0060">Encarnaçaõ and Pascoal, 2001</a>, <a class="elsevierStyleCrossRef" href="#bib0065">Fantoni et al., 2000</a>, <a class="elsevierStyleCrossRef" href="#bib0070">Fliess et al., 1995</a>, <a class="elsevierStyleCrossRef" href="#bib0075">Khalil, 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0080">Kolmanovsky and McClamroch, 1995</a>, <a class="elsevierStyleCrossRef" href="#bib0085">Lefeber et al., 2003</a>, <a class="elsevierStyleCrossRef" href="#bib0090">Murray and Sastry, 1993</a>, <a class="elsevierStyleCrossRef" href="#bib0095">Olfati-Saber, 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0100">Oriolo and Nakamura, 1991</a>, <a class="elsevierStyleCrossRef" href="#bib0105">Oya et al., 2003</a>, <a class="elsevierStyleCrossRef" href="#bib0110">Sira-Ramirez, 2002</a>, <a class="elsevierStyleCrossRef" href="#bib0115">Sira-Ramirez and Ibanez, 2000</a>, <a class="elsevierStyleCrossRef" href="#bib0120">Sira-Ramirez, 2000</a> and <a class="elsevierStyleCrossRef" href="#bib0125">Toussaint et al., 2000</a>.</p></span></span>" "textoCompletoSecciones" => array:1 [ "secciones" => array:6 [ 0 => array:2 [ "identificador" => "xres278356" "titulo" => "Resumen" ] 1 => array:2 [ "identificador" => "xpalclavsec260189" "titulo" => "Palabras clave" ] 2 => array:2 [ "identificador" => "xres278355" "titulo" => "Abstract" ] 3 => array:2 [ "identificador" => "xpalclavsec260190" "titulo" => "Keywords" ] 4 => array:2 [ "identificador" => "sec0005" "titulo" => "Referencias no citadas" ] 5 => array:1 [ "titulo" => "Referencias" ] ] ] "pdfFichero" => "main.pdf" "tienePdf" => true "fechaRecibido" => "2012-10-16" "fechaAceptado" => "2013-05-17" "PalabrasClave" => array:2 [ "es" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Palabras clave" "identificador" => "xpalclavsec260189" "palabras" => array:5 [ 0 => "Control no Lineal" 1 => "seguimiento de trayectoria" 2 => "vehículo subactuado" 3 => "saturación" 4 => "vehículo autónomo" ] ] ] "en" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Keywords" "identificador" => "xpalclavsec260190" "palabras" => array:5 [ 0 => "Nonlinear control" 1 => "trajectory tracking" 2 => "underactuated vehicle" 3 => "saturation" 4 => "autonomous vehicles" ] ] ] ] "tieneResumen" => true "resumen" => array:2 [ "es" => array:2 [ "titulo" => "Resumen" "resumen" => "<p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">Este artículo aborda el problema de seguimiento de trayectoria de un aerodeslizador subactuado. Esta clase de sistemas es difícil de controlar debido a que su movimiento está sujeto a una restricción no holonómica de segundo orden. La resolución de este complejo problema requiere la descomposición de la dinámica del sistema en dos subsistemas (posición y orientación) para los que se diseña una ley de control basada en dos controladores no lineales en cascada. El lazo externo de control calcula los valores de la fuerzas en el sistema inercial Fx y Fy que deberían aplicarse al aerodeslizador para seguir la trayectoria deseada. A partir de estas fuerzas se determina la referencia para la orientación, <span class="elsevierStyleItalic">ψ</span><span class="elsevierStyleInf">c</span>, entrada del lazo interno. Por su parte, el lazo interno intenta controlar la orientación para de esta forma seguir las referencia <span class="elsevierStyleItalic">ψ</span><span class="elsevierStyleInf">c</span> del lazo externo. Ambos controladores se han diseñado teniendo en cuenta la saturación de los actuadores. En particular, el principal resultado de este artículo muestra que en los casos donde la trayectoria está adecuadamente definida, es posible ajustar los parámetros del controlador para evitar la saturación de los actuadores. Este trabajo demuestra de forma teórica la estabilidad asintótica global del error de seguimiento bajo la acción del controlador propuesto. Además, mediante simulaciones, se analiza el comportamiento del sistema y el significado práctico de los resultados teóricos.</p>" ] "en" => array:2 [ "titulo" => "Abstract" "resumen" => "<p id="spar0010" class="elsevierStyleSimplePara elsevierViewall">This paper deals with the interesting problem of trajectory tracking of an underactuated hovercraf. This system is difficult to control because it exhibits second order nonholonomic restrictions on its movement. In order to solve the control problem the dynamics of the system is discomposed in two subsystems (one for position and another for orientation) and a nonlinear control law based on two nonlinear cascaded controllers is designed. On one hand the outer, loop computes the forces that are necessary to track the spatial trajectory <span class="elsevierStyleItalic">F</span><span class="elsevierStyleInf"><span class="elsevierStyleItalic">x</span></span> and <span class="elsevierStyleItalic">F</span><span class="elsevierStyleInf"><span class="elsevierStyleItalic">y</span></span> in the inertial frame. Based on this forces, the reference for the orientation <span class="elsevierStyleItalic">ψ</span><span class="elsevierStyleInf">c</span> is computed and it is feedback to the inner loop. On the other hand, the inner loop tries to converge the orientation to the reference <span class="elsevierStyleItalic">ψ</span><span class="elsevierStyleInf"><span class="elsevierStyleItalic">c</span></span> given by the outer loop. Both controllers are designed taking into account saturation of the actuators. In fact the main result of this paper shows that if the reference trajectory is given properly it is possible to avoid saturation of the actuators. With adequate selection, global asymptotic stability of the tracking error under the proposed control law is theoretically demonstrated. In addition simulations are made in order to analyze the performance of the control law and the practical meaning of the theoretical results.</p>" ] ] "bibliografia" => array:2 [ "titulo" => "Referencias" "seccion" => array:1 [ 0 => array:2 [ "identificador" => "bibs0005" "bibliografiaReferencia" => array:25 [ 0 => array:3 [ "identificador" => "bib0005" "etiqueta" => "Aguiar et al., 2003" "referencia" => array:1 [ 0 => array:1 [ "referenciaCompleta" => "Aguiar, A., Cremean, L., Hespanha, J., dec. 2003. Position tracking for a nonlinear underactuated hovercraft: controller design and experimental results. In: Decision and Control, 2003. Proceedings. 42nd IEEE Conference on. Vol. 4. pp. 3858-3863 vol.4. DOI: 10.1109/CDC. 2003.1271751." ] ] ] 1 => array:3 [ "identificador" => "bib0010" "etiqueta" => "Aguiar and Hespanha, 2007" "referencia" => array:1 [ 0 => array:1 [ "referenciaCompleta" => "Aguiar, A., Hespanha, J., aug. 2007. 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