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Constraining control method for under-actuated system

A control method and underactuated technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as inability to guarantee system transient performance

Active Publication Date: 2015-09-30
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Aiming at the defect that the conventional control can only guarantee the steady-state performance, but not certain characteristics of the system's transient performance, this control method not only realizes the rapid stabilization control of the TORA system, but also ensures that the rotating ball is within the preset range Internal rotation

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  • Constraining control method for under-actuated system
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Embodiment Construction

[0104] Further illustrate the present invention below in conjunction with accompanying drawing.

[0105] The underactuated control method with constraints provided by the present invention is implemented as follows:

[0106] 1. Determine the underactuated model and control target

[0107] For attached figure 1 The underactuated system model in , considering the underactuated TORA system with the rotating ball rotating in the vertical plane, its dynamic characteristics can be described by the following equation:

[0108] M ( q ) q ·· + V ( q , q · ) q · + G ( q ) = u

[0109] where, q(t)=[x(t) θ(t)] T represents the state vector of the...

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Abstract

The invention provides a constraining control method for an under-actuated system. According to the method, total mechanical energy of the system is analyzed in detail, the coupling relation between a small rotating ball and a translation oscillation trolley is improved through kinetic energy reshaping on the basis of the total mechanical energy, the small rotating ball can be stabilized in a balance point position through potential energy reshaping, the rotation range of the small ball is guaranteed in the control process, and finally, a constraining non-linear controller is put forward on the basis of a constructed energy function. The control method aims to overcome the defect that only steady-state performance can be guaranteed, but certain characteristics of transient-state performance of a system cannot be guaranteed in conventional control, realizes quick stabilization control for a TORA (translation oscillators with rotating actuator) system and can guarantee that the small rotating ball rotates in a preset range. Through simulation contrast with an existing method, the method can guarantee that the system is stabilized in a stable balance point position and can also guarantee that the small rotating ball rotates in a constrained range, and a circulation phenomenon cannot occur.

Description

technical field [0001] The invention belongs to the technical field of automatic control of underactuated mechanical systems, and mainly relates to an underactuated system control method with constraints. Background technique [0002] An underactuated system refers to a type of system whose number of degrees of freedom is greater than the number of control input dimensions. It is widely used in various places because of its simple structure, strong flexibility, and light weight. For example, many electromechanical systems are designed as Underactuated, there are also some systems that are underactuated due to non-integrable nonholonomic constraints, such as aerospace vehicles, mobile robots, underwater vehicles, etc. In addition, when some actuators of a fully actuated system do not work properly, it will also degenerate into an underactuated system. However, due to the underactuated characteristics of such systems, the control of such systems is challenging, so the control...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 武宪青史秀兰何熊熊
Owner ZHEJIANG UNIV OF TECH
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