基于受控拉格朗日函数的Pendubot镇定控制器设计  

Stabilization controller design of Pendubot based on controlled Lagrangians

作　　者：李茂青[1] 

机构地区：[1]北京航空航天大学第七研究室,北京100191

出　　处：《控制与决策》2010年第5期663-668,共6页Control and Decision

基　　金：国家自然科学基金重点项目(60334030);教育部博士点基金项目(20050006024)

摘　　要：基于受控拉格朗日函数,对竖直面内两自由度Pendubot设计镇定控制器.由于该系统的驱动变量是原始动能的循环变量,当受控动能继续保持同一个循环变量时,匹配条件中的动能方程退化为一个常微分方程.由此得到的非线性光滑反馈控制律,可实现一类两自由度Pendubot局部渐近镇定.On the basis of the controlled Lagrangians,a stabilization controller is designed for the two degrees of freedom（2-DOF） Pendubot in the vertical plane.Because the actuated variable of the system is a cyclic variable of its original kinetic energy,the kinetic energy equation in the matching condition degenerates into an ordinary differential equation with the controlled kinetic energy maintaining the identical cyclic variable.Taking this degeneration,a nonlinear smooth state feedback control law is obtained,which can achieve local asymptotic stabilization for a class of the 2-DOF Pendubots.

关 键 词：欠驱动力学系统 受控拉格朗日函数法 匹配条件 PENDUBOT 镇定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]