基于SISO镇定方法的Acrobot机械臂稳定控制器的设计  

Stabilization Control for Acrobot Based on SISO Stabilization Method

作　　者：王能 张志飞 张小刚[2] WANG Neng;ZHANG Zhifei;ZHANG Xiaogang(College of Automation,Foshan University of Science and Technology,Foshan528000,China;College of Electrical and Information Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]佛山科学技术学院自动化学院,广东佛山528000 [2]湖南大学电气与信息工程学院,长沙410082

出　　处：《湖南理工学院学报（自然科学版）》2018年第1期30-34,共5页Journal of Hunan Institute of Science and Technology(Natural Sciences)

基　　金：国家自然科学基金项目(61673162)

摘　　要：主要讨论了利用单输入单输出思想来镇定单输入多输出Acrobot系统的一种方法.首先针对驱动杆设计一种稳定控制器,然后用所设计的控制器验证被动杆的运动是否能跟随主动杆一起达到稳定的效果.控制策略包括两个部分,首先泵起双杆至给定界面,在系统进入界面后,采用线性化处理系统,从而加速系统快速稳定地达到指定平衡点.最后选取两个经典的实例,验证了本文方法的有效性.In this paper we mainly discussed a method of stabilizing single input and multiple output Acrobot system by using single input and single output idea.Firstly,a stable controller is designed for the drive rod.Then the designed controller is used to verify whether the motion of the passive rod can achieve the stable effect with the active rod.The control strategy includes two parts:firstly,we pump two rods to a given interface;and then the system enters the interface,we use the linearization processing system,so as to accelerate the system to achieve the specified equilibrium point quickly and steadily.In this paper,two classic examples are selected to verify the effectiveness of this method.

关 键 词：ACROBOT 二阶系统 SISO-SIMO 非线性控制器 分区控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]