自由下落猫的非完整运动规划最优控制研究

戈新生; 陈立群

自由下落猫的非完整运动规划最优控制研究

戈新生¹,
陈立群²

1.
北京机械工业学院机械工程系,北京 100085;2.上海大学,上海市应用数学和力学研究所,上海 200072

基金项目: 国家自然科学基金资助项目(10372014);北京市自然科学基金资助项目(1072008)

详细信息

作者简介:
戈新生(1957- ),男,合肥人,教授,博士(联系人.E-mail:gebim@vip.sina.com).

中图分类号: O302
计量
- 文章访问数: 3295
- HTML全文浏览量: 198
- PDF下载量: 720
- 被引次数: 0
出版历程
- 收稿日期: 2005-10-18
- 修回日期: 2007-01-30
- 刊出日期: 2007-05-15

Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat

GE Xin-Sheng¹,
CHEN Li-qun²

1.
Mechanical Engineering Department, Beijing Institute of Machinery, Beijing 100085, P. R. China;

摘要

摘要: 研究猫在自由下落时姿态运动规划问题．自由落体的猫在空中转体运动由于角速度不可积，姿态运动方程呈现为非完整形式．当系统角动量为0时，导出由两个对称刚体组成的自由下落猫的非完整姿态运动方程．利用该非完整方程系统的控制问题可转化为无漂移系统的非完整运动规划问题．基于Ritz近似理论，给出自由落体猫姿态运动规划的Gauss-Newton算法．最后对自由落体猫作了数值仿真实验，仿真结果验证了该算法的有效性．
- 猫自由落体 /
- 非完整约束 /
- 运动规划 /
- 最优控制
Abstract: The nonholonomic motion planning of a free-falling cat is investigated.Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws.When the total angular momentum is zero,the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum.The control of system can be converted to the problem of nonholonomic motion planning for a freefalling cat.Based on Ritz approximation theory,the Gauss-Newton method for motion planning by a falling cat is proposed.The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.
- free-falling cat /
- nonholonomic constraint /
- motion planning /
- optimal control

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参考文献(13)

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