多体机械系统的建模、控制与容错

多体机械系统是近年来控制领域研究的难点。本文首先介绍了多体机械系统的结构和基本特性。其次,总结了近年来多体机械系统动力学常用的建模方法,分析了各种建模方案的优缺点。进一步介绍了近年来针对多体机械系统所采用的不同控制方法。最后,列举了容错控制在多体机械系统中的应用,并对多体机械系统控制未来的发展趋势进行了展望。

Modeling, control and fault tolerance of multibody mechanical systems

Multibody mechanical systems have been a difficult aspect in the control field in recent years. The paper firstly introduces the general structure and characteristics of multibody mechanical systems. Then, frequently used modeling methods are analyzed and compared. Advantages and drawbacks of these methods are given afterwards. Moreover, the paper gives a detailed review of recent results on different control schemes and fault tolerant control methods applied to the multibody mechanical systems. Finally, some perspectives are provided.