双连杆Acrobot机器臂的最优控制器设计  

Optimal Control for Acrobot with Two-linked Manipulators

作　　者：张志飞 章兢[2] 曾凡智[3] ZHANG Zhi-fei;ZHANG Jing;ZENG Fan-zhi(School of Automaton,Foshan Univeristy of Science and Technology, Foshan,Guangdong 528000,China;Institute of Electric and Information Engineering,Hunan University, Changsha,Hunan 410082,China;School of Electronic and Information Engineering,Foshan Univeristy of Science and Technology,Foshan,Guangdong 528000,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,湖南长沙410082 [3]佛山科学技术学院电子与信息工程学院,广东佛山528000

出　　处：《计算技术与自动化》2018年第4期1-4,9,共5页Computing Technology and Automation

基　　金：国家自然科学基金资助项目(61602116;61803087)

摘　　要：研究欠驱动机器人Acrobot的最优控制,基于时间最短与控制量均衡性能指标的最优控制问题。首先运用最优控制原理得到了摇起区的最优控制律,当摇起区控制律进入吸引区时,采用切换控制使系统稳定在平衡顶点。使用拉萨尔定理分析最优控制律下局部稳定性,利用开关定理分析了切换控制下的全局稳定性。建立了力矩无约束条件下连续控制律与力矩受限开关控制律之间关系。文末给出了一个仿真实例,与相关研究结果进行了对比。This paper presents an optimal controller for underacurated Acrobat with two-link manipulators,performance index is treated as MTCI(minimum time control with input).First pump the manipulators to that area called invariant sets by optimal control law,during the pumping process,linrize system if it is possible,then switch control law to LQR that systems moves to the stright-up point.Local stability is guaranteed by LaSalle's invarince principle and global stabilty is analysized by use of switch throem.It is establised that the relationship of between continous control law with unlimited torgue and bang-bang law with limited torgue.Finally,an example is given to compare with previous results.

关 键 词：ACROBOT 拉萨尔原理 板板控制律 性能指标 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]