工艺与制造英文2022被引 6
基于交叉耦合的自动铺纤系统有限时间同步控制
Cross-coupling based Finite-time Synchronization Control of the Automated Fiber Placement System
Ronghua Zhang, Yaonan Wang, Haoran Tan, Wenfang Xie, Yiming Jiang, He Xie, Li Liu · Hunan University
摘要整理
多机器人在自动铺纤系统（AFPS）中的应用使得复杂复合材料构件的制造成为可能。为实现高质量的纤维铺放任务，多机器人的同步控制至关重要。本文针对特定的自动铺纤系统提出了一种新颖的交叉耦合有限时间同步控制（CFSC）算法。该算法采用同步函数和交叉耦合技术来描述系统的同步性能和综合轨迹跟踪性能。设计了基于耦合误差的滑模变量，通过李雅普诺夫理论证明了系统的稳定性，表明系统的位姿误差和同步误差能够同时在有限时间内收敛至零。仿真结果验证了所提CFSC算法的有效性，为多机器人协调铺纤提供了理论基础和控制方法。
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