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基于倒转方法的欠驱动 Acrobot 系统稳定控制

张安彩 赖旭芝 佘锦华 吴敏

张安彩, 赖旭芝, 佘锦华, 吴敏. 基于倒转方法的欠驱动 Acrobot 系统稳定控制. 自动化学报, 2012, 38(8): 1263-1269. doi: 10.3724/SP.J.1004.2012.01263
引用本文: 张安彩, 赖旭芝, 佘锦华, 吴敏. 基于倒转方法的欠驱动 Acrobot 系统稳定控制. 自动化学报, 2012, 38(8): 1263-1269. doi: 10.3724/SP.J.1004.2012.01263
ZHANG An-Cai, LAI Xu-Zhi, SHE Jin-Hua, WU Min. Stabilization Control of Underactuated Acrobot Based on Inverse Method. ACTA AUTOMATICA SINICA, 2012, 38(8): 1263-1269. doi: 10.3724/SP.J.1004.2012.01263
Citation: ZHANG An-Cai, LAI Xu-Zhi, SHE Jin-Hua, WU Min. Stabilization Control of Underactuated Acrobot Based on Inverse Method. ACTA AUTOMATICA SINICA, 2012, 38(8): 1263-1269. doi: 10.3724/SP.J.1004.2012.01263

基于倒转方法的欠驱动 Acrobot 系统稳定控制

doi: 10.3724/SP.J.1004.2012.01263
详细信息
    通讯作者:

    赖旭芝

Stabilization Control of Underactuated Acrobot Based on Inverse Method

  • 摘要: 针对欠驱动两杆体操机器人Acrobot, 提出一种新的稳定控制方法.首先,通过利用一个虚拟摩擦力矩为Acrobot 构造一条下摆轨迹;然后,运用倒转的思想为它设计出一条由垂直向下位置到垂直向上位置的期望运动轨迹, 并以此将系统的稳定控制问题转化为跟踪控制问题;最后, 基于最优控制理论来设计跟踪控制器,使Acrobot 能够沿期望轨迹渐近稳定在垂直向上位置处. 仿真结果验证了所提方法的有效性.
  • [1] Grizzle J W, Moog C H, Chevallereau C. Nonlinear control of mechanical systems with an unactuated cyclic variable. IEEE Transactions on Automatic Control, 2005, 50(5): 559 -576[2] Jia He-Ming, Zhang Li-Jun, Cheng Xiang-Qin, Bian Xin-Qian, Yan Zhe-Ping, Zhou Jia-Jia. Three-dimensional path following control for an underactuated UUV based on nonlinear iterative sliding mode. Acta Automatica Sinica, 2012, 38(2): 308-314 (贾鹤鸣, 张利军, 程相勤, 边信黔, 严浙平, 周佳加. 基于非线性迭代滑模的欠驱动 UUV 三维航迹跟踪控制. 自动化学报, 2012, 38(2): 308-314)[3] Kotyczka P. Local linear dynamics assignment in IDA-PBC for underactuated mechanical systems. In: Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference. Orlando, FL, USA: IEEE, 2011. 6534-6539[4] Cheng Hong-Tai, Zhao Yi-Ni, Zhang Xiao-Hua. Dynamical servo control and symmetrical virtual constraints method for the Acrobot. Acta Automatica Sinica, 2010, 36(11): 1594-1600 (程红太, 赵旖旎, 张晓华. Acrobot 动态伺服控制及其对称虚约束方法研究. 自动化学报, 2010, 36(11): 1594-1600)[5] Oriolo G, Nakamura Y. Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators. In: Proceedings of the 30th IEEE Conference on Decision and Control. Brighton, UK: IEEE, 1991. 2398-2403[6] Spong M W. The swing up control problem for the Acrobot. IEEE Control Systems Magazine, 1995, 15(1): 49-55[7] Lai X Z, She J H, Yang S X, Wu M. Comprehensive unified control strategy for underactuated two-link manipulators. IEEE Transactions on Systems, Man, and Cybernetics —Part B: Cybernetics, 2009, 39(2): 389-398[8] Lai X Z, She J H, Ohyama Y, Cai Z. Fuzzy control strategy for Acrobots combining model-free and model-based control. IEE Proceedings —Control Theory and Applications, 1999, 146(6): 505-510[9] Lai Xu-Zhi, Wu Min, She Jin-Hua, Yang Simon X. Controller design and global stability analysis of Acrobot. Acta Automatica Sinica, 2007, 33(7): 719-725 (赖旭芝, 吴敏, 佘锦华, Yang Simon X. Acrobot 控制器设计与全局稳定性分析. 自动化学报, 2007, 33(7): 719-725)[10] Willson S S, Mullhaupt P, Bonvin D. Quotient method for controlling the Acrobot. In: Proceedings of the 48th IEEE Conference on Decision and Control. Shanghai, China: IEEE, CDC/CCC 2009. 1770-1775[11] Olfati-Saber R. Control of underactuated mechanical systems with two degrees of freedom and symmetry. In: Proceedings of the 2000 American Control Conference. Chicago, USA: IEEE, 2000. 4092-4096[12] Khalil H K. Nonlinear Systems (Third edition). New Jersey, USA: Prentice Hall, 2002. 191-195
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出版历程
  • 收稿日期:  2011-12-02
  • 修回日期:  2012-03-21
  • 刊出日期:  2012-08-20

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