基于生物启发模型的欠驱动水平TORA系统的有界输入镇定控制  

Stabilization of underactuated horizontal TORA based on biologically inspired model with bounded input

作　　者：潘昌忠[1] 崔臣臣 周兰[1] 熊培银[1] 陈君[1] PAN Chang-zhong;CUI Chen-chen;ZHOU Lan;XIONG Pei-yin;CHEN Jun(School of Information and Electrical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学信息与电气工程学院,湖南湘潭411201

出　　处：《控制与决策》2022年第5期1153-1159,共7页Control and Decision

基　　金：国家自然科学基金项目(62173138);湖南省自然科学基金项目(2019JJ50157,2020JJ4314);湖南省教育厅科研项目(20A186)。

摘　　要：针对欠驱动水平TORA(translational oscillators with rotating actuator)系统,提出一种基于生物启发模型的有界输入控制方法,实现系统在执行器存在饱和约束情况下的镇定控制.首先,根据水平TORA系统的动力学模型分析系统的无源特性,进而给出系统的控制目标;接着,基于无源特性构造一种新颖的Lyapunov函数,在此基础上设计一种结构简单的非线性状态反馈控制器;然后,考虑执行器的饱和约束条件,引入受生物启发建立的神经动力学模型,利用该模型的有界平滑输出特性,设计一种改进的状态反馈控制器;最后,根据LaSalle不变性原理对系统的稳定性进行严格的数学分析和证明.与其他方法相比,所提方法不仅考虑了执行器的饱和约束问题,而且设计的控制算法简单高效,易于工程实现.仿真与对比结果表明,所提方法具有更好的控制性能.A bounded input control method based on biologically inspired models is proposed for underactuated horizontal translational oscillators with rotating actuator(TORA)to realize the stabilization control of the system with actuator saturation constraint.Firstly,the passivity property is analyzed based on the dynamics of the TORA system,and the control objective is given.Next,a novel passivity-based Lyapunov function is constructed,and a simple nonlinear state feedback controller is designed straightforwardly.Then,considering the actuator saturation constraint,a biologically inspired neural dynamic model is introduced,and an improved state feedback controller is designed by using the bounded smooth output characteristics of the neural dynamics.Finally,the stability of the control system is strictly analyzed and proven using the LaSalle invariance principle.Compared with other methods,the proposed method not only takes the actuator saturation constraint into account,but also provides a simple but efficient control algorithm,which is easy to implement in engineering.Simulation and comparison results show that the proposed method has better control performance.

关 键 词：TORA 饱和约束 生物启发模型 欠驱动系统 有界输入 镇定控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]