一类欧-拉系统的全系数自适应控制研究  

Study on All-coefficient Adaptive Control for a Class of Euler-Lagrange Systems

作　　者：雷拥军[1] 吴宏鑫[1] 

机构地区：[1]中国空间技术研究院北京控制工程研究所,北京100080

出　　处：《控制与决策》2006年第6期606-611,共6页Control and Decision

基　　金：国家973计划项目(2002CB312205);国家自然科学基金重点项目(60034010)

摘　　要：对于动力学方程未知的全驱动多变量欧-拉系统,进行了基于特征模型的全系数自适应控制方法研究.根据全系数自适应控制思想,针对全驱动欧-拉系统提出了差分方程形式的特征模型,并得到该特征模型各系数的一些性质.基于建立的特征模型,提出多变量黄金分割控制律和相应的自适应控制策略,并对闭环系统的稳定性进行了分析.最后对两连杆的空间机器人进行了仿真,仿真结果表明了该自适应控制方法的优越性.All-Coefficient Adaptive Control method based on characteristic models is studied for fully-actuated multivariable Euler-Lagrange （E-L） systems with unknown dynamics. According to all-coefficient Adaptive Control theory, a characteristic model for an E-L system is introduced in the form of difference equation, and properties of its coefficients are discussed. On the basis of the characteristic model, a kind of golden-section controller and its corresponding adaptive controller for multi-variable systems are developed. The close-loop uniformly asymptotic stability of the system is analyzed with the proposed controller based on the characteristic model. At last, the proposed controller is implemented on a planar two-link space robot in the absence of the knowledge of dynamics. Simulation results illustrate the advantages of the proposed adaptive control schemes over other adaptive control methods.

关 键 词：欧-拉系统 自适应控制 黄金分割 多变量控制 特征模型 空间机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]