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摘要: 针对欠驱动TORA (Translational oscillations with a rotational actuator)系统, 设计了一种具有执行器饱和约束的输出反馈控制器.与其他现有方法相比, 本文方法不仅考虑了执行器饱和约束和速度信号不可测情形, 而且考虑了旋转小球可能存在的循环行为.具体而言, 首先根据TORA系统模型分析了TORA系统的控制目标; 随后, 构造了一种新颖的能量函数, 在此基础上设计了一种考虑执行器饱和约束的输出反馈控制器, 并通过严格的数学分析证明了闭环系统关于平衡点的稳定性; 最后, 借助数值仿真测试检验了所提控制器的控制性能, 并与已有方法进行了对比.仿真测试结果表明本文所提方法具有更好的控制性能.Abstract: In this paper, an output feedback controller with the actuator saturation constraint is designed for the underactuated translational oscillations with a rotational actuator (TORA) system. By comparing with the existing control methods, in this paper, not only are the actuator saturation constraint and unmeasured velocity signal taken into consideration, but also the undesired unwinding behaviour is taken into account. In particular, the control objective of the TORA system is firstly analyzed on the basis of the TORA system model. Then, a novel energy function is constructed and an output feedback controller is proposed straightforwardly, which takes the actuator saturation constraint into consideration. The stability of the closed-loop system with respect to the equilibrium point is proven through rigorous mathematical analysis. Finally, the control performance of the proposed controller in comparison with an existing control method is examined by using numerical simulation tests. The results of simulation tests show that the proposed method achieves better control performance.
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Key words:
- Underactuated TORA systems /
- output feedback /
- saturation constraint /
- unwinding behaviour
1) 本文责任编委 诸兵 -
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