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摘要: 针对旋转小球在垂直平面内运动的欠驱动TORA (Translational oscillators with rotating actuator), 采用基于能量的方法, 设计了系统的状态反馈控制器. 基于拉格朗日方程, 建立了TORA的动力学模型, 从能量的角度出发, 说明了系统的无源特性, 在此基础上设计了一个合适李亚普诺夫函数, 从而得到了系统的控制算法; 采用拉萨尔不变性原理分析了控制系统的稳定性. 数值仿真实验证明了控制器的有效性.Abstract: A state feedback controller is designed for an underactuated TORA (translational oscillators with rotating actuator). Based on Lagrange equations, the dynamics of TORA is derived. The total energy of the system is employed to show the passivity property of TORA, and then a proper Lyapunov function including energy item is designed. Based on Lyapunov theory, a state feedback control algorithm is achieved. The stability of the control system is based on LaSalle invariance theorem. Finally, simulation results demonstrate the feasibility of the presented controller.
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Key words:
- Energy-based control design /
- TORA /
- underactuated /
- Lyapunov function /
- passivity
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