基于可变设计参数的平面Acrobot位置快速控制方法  

Rapid position control approach based on variable design parameter for planar Acrobot

作　　者：王亚午 赖旭芝 吴敏 

机构地区：[1]中国地质大学(武汉)自动化学院,湖北武汉430074 [2]复杂系统先进控制与智能自动化湖北省重点实验室,湖北武汉430074

出　　处：《电机与控制学报》2017年第9期110-118,共9页Electric Machines and Control

基　　金：国家自然科学基金(61374106);湖北省自然科学基金(2015CFA010);"111计划"项目(B17040)

摘　　要：为平面Acrobot系统(无重力项)提出一种基于可变设计参数的快速位置控制方法。首先,根据平面Acrobot系统的完全可积特性,获取驱动关节与欠驱动关节的角速度和角度约束关系。其次,根据系统的物理结构,推导出末端点坐标位置和两关节角度之间另一类约束关系。然后,基于这两类约束关系,利用粒子群优化算法求取目标位置对应的两杆目标角度。接着,通过构造李雅普诺夫函数为平面Acrobot系统设计控制器,并根据控制器中设计参数的特性,选择一个可变的设计参数,减少控制系统到达目标的时间。利用连杆角速度和角度约束关系,通过控制驱动杆到目标角度同时连带控制欠驱动杆到目标角度,实现系统的控制目标。最后,仿真结果验证所设计控制方法的有效性和快速性。A rapid position control approach based on a variable design parameter was presented for a planar Acrobot which has no gravity item. Firstly, angle constraint relationship and angular velocity constraint relationship between active joint and passive joint were obtained by employing the complete integral characteristics of the planar Acrobot. Next, another kind of the constraint relationship between the endpoint position and two angles of joint was deduced according to the physical structure of the planar Acrobot. Then, the target angles of joint were obtained by using particle swarm optimization （PSO） algorithm based on the above two kinds of constraint relationship. Finally, a controller was designed for planar Acrobot by constructing a Lyapunov function, and a variable design parameter of the controller was chosen to reduce the control time according to the characteristics of parameter. When the active link was controlled to the target angle, the passive link was also controlled jointly to its target angle by utilizing angular velocity constraint relationship and angle constraint relationship. That is, the endpoint of the planar Acrobot was driven to the target position. Simulation results demonstrate the effectiveness and rapidity of the proposed control approach.

关 键 词：平面欠驱动机械系统 平面Acrobot 位置控制 粒子群优化算法 非线性函数 

分 类 号：TP4[自动化与计算机技术]