欠驱动RTAC系统的自适应耦合控制器设计

武宪青; 何熊熊

doi:10.16383/j.aas.2015.c140618

欠驱动RTAC系统的自适应耦合控制器设计

doi: 10.16383/j.aas.2015.c140618

武宪青,
何熊熊^,

1.
浙江工业大学信息工程学院杭州 310023

基金项目:

国家科技支撑计划课题(2013BAF07B03), 国家自然科学基金(61473262), 浙江省信号处理重点实验室(2012E10016)资助

详细信息

作者简介:
武宪青浙江工业大学信息工程学院博士研究生. 主要研究方向为桥式吊车, TORA/RTAC 等欠驱动系统控制.E-mail: wux.zjut@gmail.com

通讯作者:
何熊熊浙江工业大学信息工程学院教授. 主要研究方向为欠驱动系统控制, 迭代学习控制. E-mail: hxx@zjut.edu.cn

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出版历程
- 收稿日期: 2014-08-25
- 修回日期: 2015-01-24
- 刊出日期: 2015-05-20

Adaptive Coupling Controller Design for Underactuated RTAC Systems

WU Xian-Qing,
HE Xiong-Xiong^,

1.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023

Funds:

Supported by National Science and Technology Pillar Program of China (2013BAF07B03), National Natural Science Foundation of China (61473262), and Zhejiang Key Laboratory for Signal Processing (2012E10016)

摘要

摘要: 针对欠驱动(Rotational/translational actuator, RTAC)系统, 设计了一种基于能量分析的自适应控制器. 相比其他控制方法, 该控制策略可根据系统响应情况对平移振荡器质量等系统参数进行在线估计. 具体而言, 首先分析了RTAC系统的总能量; 随后, 在此基础上构造了一个新颖的Lyapunov函数, 从而得到了一种自适应耦合控制器, 采用投影算子作为更新律以确保估计参数在预设的界内并保证系统的收敛性; 最后, 采用Lyapunov方法及LaSalle不变性原理证明了闭环系统的稳定性. 通过数值仿真验证了所提控制器的有效性, 结果表明所提自适应控制器具有良好的控制性能.
- 欠驱动RTAC系统 /
- 能量分析 /
- Lyapunov方法 /
- LaSalle不变性原理
Abstract: In this paper, an adaptive energy-based control method is proposed for rotational/translational actuator (RTAC) systems. Different from the existing methods, the proposed method could estimate the system parameters such as the translational oscillator mass, etc., online according to the system responses. In particular, the system energy of the RTAC system is analyzed firstly. Then, a novel energy storage function is introduced and an adaptive coupling control method is proposed straightforwardly, where a projection algorithm, as the update law, is utilized to guarantee the estimated parameters in preset scope and assure the convergence of the closed-loop system. Consequently, the stability of the closed-loop system is proven by Lyapunov techniques and LaSalle's invariance theorem. Simulation results are presented to demonstrate the effectiveness of the proposed control method. The results show that the control performance of the proposed method is favourable.
- Underactuated rotational/translational actuator (RTAC) systems /
- energy analysis /
- Lyapunov method /
- LaSalle's invariance theorem

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