TY - GEN
T1 - Dual Quaternion Based Finite-Time Tracking Control for Mechatronic Systems with Actuation Allocation
AU - Sun, Lichao
AU - Huang, Yanpei
AU - Wang, Ziwei
AU - Xiao, Bo
AU - Yeatman, Eric M.
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper investigates the tracking control performance regulation and actuation allocation of mechatronic systems subject to coupling motions. In particular, the kinematic and dynamic model is described by dual quaternion, which captures the coupling effect between translation and rotation movements. Considering external disturbances and system uncertainties, a non-singular fast terminal sliding controller is then developed to ensure finite-time tracking performance. In addition, the unwinding problem caused by the redundancy of dual quaternion is addressed with the help of a novel attitude error function. Furthermore, an improved simplex method is designed for distributing the developed control commands to proper actuators. Numerical simulations demonstrate the effectiveness with respect to disturbance suppression, fast tracking, high accuracy, and finite-time stability of the proposed method.
AB - This paper investigates the tracking control performance regulation and actuation allocation of mechatronic systems subject to coupling motions. In particular, the kinematic and dynamic model is described by dual quaternion, which captures the coupling effect between translation and rotation movements. Considering external disturbances and system uncertainties, a non-singular fast terminal sliding controller is then developed to ensure finite-time tracking performance. In addition, the unwinding problem caused by the redundancy of dual quaternion is addressed with the help of a novel attitude error function. Furthermore, an improved simplex method is designed for distributing the developed control commands to proper actuators. Numerical simulations demonstrate the effectiveness with respect to disturbance suppression, fast tracking, high accuracy, and finite-time stability of the proposed method.
KW - control allocation
KW - Dual quaternion
KW - finite-time stability
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85141207767&partnerID=8YFLogxK
U2 - 10.1109/ICAC55051.2022.9911154
DO - 10.1109/ICAC55051.2022.9911154
M3 - Conference Proceeding
AN - SCOPUS:85141207767
T3 - 2022 27th International Conference on Automation and Computing: Smart Systems and Manufacturing, ICAC 2022
BT - 2022 27th International Conference on Automation and Computing
A2 - Yang, Chenguang
A2 - Xu, Yuchun
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th International Conference on Automation and Computing, ICAC 2022
Y2 - 1 September 2022 through 3 September 2022
ER -