受控拉格朗日函数方法综述

吴凡; 耿志勇

doi:10.3724/SP.J.1004.2012.00145

受控拉格朗日函数方法综述

doi: 10.3724/SP.J.1004.2012.00145

吴凡^,,
耿志勇

1.
北京大学湍流与复杂系统国家重点实验室北京 100871

详细信息

通讯作者:
吴凡, 北京大学力学与空天技术系博士. 主要研究方向为力学系统的非线性控制. E-mail: wufan@pku.edu.cn

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出版历程
- 收稿日期: 2011-05-16
- 修回日期: 2011-10-24
- 刊出日期: 2012-02-20

A Survey for Controlled Lagrangian Method

WU Fan^,,
GENG Zhi-Yong

1.
State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing 100871

摘要

摘要: 受控拉格朗日函数(Controlled Lagrangians, CL)方法是一种以能量观点设计简单力学系统镇定控制律的方法. 自1997年正式提出以来, CL法在理论及应用上都得到了发展. 理论上包括研究CL法的可行性,针对特定类系统简化CL法设计, 利用CL法解决镇定之外的控制问题. 应用上主要是将CL法用于多种实际力学系统, 尤其是欠驱动力学系统的控制. 本综述将介绍CL法的主要思想与理论; 回顾各控制研究团队所作理论与应用推广; 讨论关于CL法一些尚存的问题以及未来研究方向.
- 简单力学系统 /
- 能量整形 /
- 匹配 /
- 非线性镇定
Abstract: The method of controlled Lagrangian (CL) has been developed to stabilize simple mechanical systems based on energy shaping. Since the introduction of this controller design methodology in 1997, many theoretical developments and practical applications have been reported in the literature. The theoretical developments include a series of criteria for its applicability, special shortcuts that are useful when dealing with particular classes of systems, and the incorporation of additional features to handle control scenarios other than just stabilization. On the application side, the method has been applied to a wide variety of practical mechanical control systems, especially under actuated systems. The purpose of this survey is to review the fundamental idea and theory of this controller design methodology, research developments achieved by different research groups, as well as to discuss the current open problems and future research directions.
- Simple mechanical systems /
- energy shaping /
- matching /
- nonlinear stabilization

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参考文献(1)

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