平面Acrobot和Pendubot的统一控制策略  

The unified control strategy for planar Acrobot and Pendubot

作　　者：黄自鑫 侯梦毓 危少奇 王乐君 HUANG Zixin;HOU Mengyu;WEI Shaoqi;WANG Lejun(College of Artificial Intelligence,Nankai University,Tianjin 300071,P.R.China;School of Electrical and Information Engineering,Wuhan Institute of Technology University,Wuhan 430205,Hubei Province,P.R.China;Hubei Key Laboratory of Intelligent Robot,Wuhan Institute of Technology University,Wuhan 430205,Hubei Province,P.R.China;Hubei Key Laboratory of Digital Textile Equipment,Wuhan Textile University,Wuhan 430200,Hubei Province,P.R.China;School of Automation,Chongqing University of Posts and Telecommunications,Chongqing 400065,P.R.China)

机构地区：[1]南开大学人工智能学院,天津300071 [2]武汉工程大学电气信息学院,湖北武汉430205 [3]武汉工程大学智能机器人湖北省重点实验室,湖北武汉430205 [4]武汉纺织大学湖北省数字化纺织装备重点实验室,湖北武汉430200 [5]重庆邮电大学自动化学院,重庆400065

出　　处：《深圳大学学报（理工版）》2023年第3期275-283,共9页Journal of Shenzhen University(Science and Engineering)

基　　金：国家自然科学基金资助项目(61773353);湖北省教育厅科学技术研究计划重点资助项目(D20211506);湖北省重点实验室创新基金资助项目(HBIRL202105);武汉工程大学科学基金资助项目(K2021027);数字纺织装备湖北省重点实验室资助项目(KDTL2022003)。

摘　　要：为实现被动关节处于不同位置的平面Acrobot和Pendubot的统一控制,提出一种基于轨迹规划和跟踪控制的控制策略.系统的控制过程划分为两个阶段:在第1个阶段,通过对驱动连杆规划轨迹并使其跟踪轨迹运动,实现驱动连杆控制目标.此时,欠驱动连杆处于自由转动状态.在第2个阶段,对驱动连杆设计一条带有可调参数的振荡轨迹,并利用差分进化算法优化轨迹参数,确保当驱动连杆跟踪第2阶段轨迹从目标状态出发,最终返回目标状态时,欠驱动连杆也被连带控制到目标状态.通过仿真验证了所提控制策略的有效性和可行性.该控制策略可有效实现平面Acrobot和Pendubot的统一控制.For the planar Acrobot and Pendubot with passive joints at different positions,a control strategy based on trajectory planning and tracking control is proposed to achieve their unified control.The whole control process is divided into two phases.In the first phase,the control target of the active link is achieved by planning the trajectory of the active link and making it track the motion trajectory,while the underactuated link is in a free rotation state.In the second phase,an oscillating trajectory with adjustable parameters is designed for the active link,and the trajectory parameters are optimized using the differential evolution algorithm to ensure that the underactuated link is still stabilized at its target states when the active link returns from the target states to the target states by tracking the trajectory of the second phase.The effectiveness and feasibility of the proposed control strategy are verified by simulation.In conclusion,this control strategy can realize the unified control of both planar Acrobot and Pendubot effectively.

关 键 词：自动控制应用理论 机器人控制 平面Acrobot 平面Pendubot 统一控制 轨迹规划 跟踪控制 差分进化算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]