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提出一种基于虚约束的统一设计方法,以解决Acrobot系统中动态伺服控制问题,使系统沿着经过目标点的周期轨迹运动.将虚约束设计、虚约束作用下系统零动态微分方程分析以及轨道周期性判定相结合,获得了符合目标的周期轨道方程;基于Lyapunov方法设计了光滑反馈控制器,克服了基于线性二次型调节器(LQR)的控制器对零动态微分方程解析解的依赖性问题.实际算例的仿真结果表明了统一设计方法的有效性.
A unified design method based on virtual constraint is proposed to solve the problem of dynamic servo control in Acrobot system and make the system move along the periodic trajectory through the target point.Using the virtual constraint design and the zero dynamic differential equation analysis under the constraint of virtual constraint and the orbit Periodic determinations are combined to obtain the periodic orbital equation which is in line with the goal. The smooth feedback controller is designed based on the Lyapunov method, which overcomes the dependence of the linear quadratic regulator (LQR) on the analytic solution of zero dynamic differential equations The simulation results of the actual example show the effectiveness of the unified design method.