Acrobot基于能量的摇起控制算法与运动特性分析  

Swing up control of Acrobot based on the energy and the analysis of the swing up process

作　　者：田彦涛[1] 宋彦[1] 张佩杰[1] 

机构地区：[1]吉林大学通信工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2009年第2期467-472,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2006AA04Z251)

摘　　要：针对Acrobot等一类二连杆欠驱动系统提出了一种基于能量增加的摇起控制算法。该控制算法从保证系统能量增加的角度出发实现系统的摇起控制。对在该算法下系统摇起过程的动力学和运动学进行了详细分析,并讨论了当系统控制输入参数改变时产生的复杂的动力学和运动学行为,通过以上分析得出了系统运动学和动力学的一般结论。The typical example of underactuated system Acrobot was studued and a swing up control strategy was designed based on energy incrementof the system such that the proposed control scheme can guarentee the energy increase to realize swing up control of the system.The both dynamics and kinetics of the swing up process was analyzed in detail.In addition,the complex dynamic and kinetic phnomenon was studied when system control parameters were changed.On the basis of the analysis,some general conclusions concerne...

关 键 词：自动控制技术 ACROBOT 基于能量的控制 摇起 欠驱动系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]