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摘要: 提出一种基于非光滑 Lyapunov 函数的 Acrobot 控制器设计和全局稳定性分析方法. 基于三个 Lyapunov 函数分别设计了三种控制规律, 用来增加 Acrobot 的能量和保持合适的姿态, 使 Acrobot 摇起并稳定在垂直向上的不稳定平衡点. 应用 LaSalle 不变原理和非光滑 Lyapunov 函数理论, 保证了 Acrobot 在整个运动空间的全局稳定性. 仿真结果证明了该方法的有效性.
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关键词:
- Acrobot /
- 模糊控制 /
- 稳定性 /
- 非光滑Lyapunov函数 /
- LaSalle不变原理
Abstract: This paper presents a controller design and global stability analysis of acrobots based on non-smooth Lyapunov functions. Three control laws that are derived based on three Lyapunov functions are applied successively to achieve a suitable posture and increase the energy so as to stabilize the acrobot at an unstable inverted equilibrium position. LaSalle invariant theorem and non-smooth Lyapunov function are employed to theoretically guarantee the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy.-
Key words:
- Acrobot /
- fuzzy control /
- stability /
- non-smooth Lyapunov function /
- LaSalle invariant principle
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