一类二阶非完整平面欠驱动机械系统位姿控制  

Position and attitude control for a class of planar underactuated mechanical system with second order non-holonomic constraints

作　　者：熊培银[1] 赖旭芝[2] 吴敏[2] 

机构地区：[1]中南大学信息科学与工程学院,长沙410083 [2]中国地质大学自动化学院,武汉430074

出　　处：《东南大学学报（自然科学版）》2015年第4期690-695,共6页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61374106);湖北省自然科学基金计划资助项目(2015CFA010)

摘　　要：针对第2关节为被动的平面五连杆欠驱动机械系统,提出一种基于模型降阶的末端位姿控制策略.首先,建立系统数学模型,通过维持第1杆初始状态,将系统降阶为一阶非完整系统;其次,通过分阶段控制驱动杆角度,将系统降阶为3个具有完整约束的两连杆子系统,并基于各子系统积分特性获得驱动杆与欠驱动杆之间的角度约束关系;然后,根据角度约束关系,利用粒子群优化算法计算系统末端位姿对应的各连杆角度;最后,基于李雅普诺夫函数分阶段设计系统控制律,实现系统从初始位姿到目标位姿的控制.仿真结果验证了所提控制策略的有效性.A piecewise position and attitude control strategy based on model reduction for the planar five-link underactuated system with a passive second joint is proposed. First, a mathematical model of the system is built, and it is reduced to the first order non-holonomic system by controlling the first link. Then, three two-link subsystems with holonomic constraints are reduced by controlling the angels of the actuated links in stages, and the angle constraint relationships are obtained by emplo- ying the integral characteristics of the subsystems. Next, the target angles of actuated links are calcu- lated by the particle swarm optimization algorithm based on the angle constraint relationships and tar- get position. Finally, the control laws designed by Lyapunov functions achieve the control objective from an initial position and attitude to the target position and attitude. Simulation results demonstrate the validity of the proposed control method.

关 键 词：平面欠驱动机械系统 模型降阶 位姿控制 粒子群优化算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]