一类欠驱动机械系统的全局鲁棒控制

针对具有质心参数不确定性的Acrobot系统,提出一种全局的鲁棒控制方法.首先,给出系统具有质心参数不确定的系统模型;其次在摇起区,分析系统不确定性条件下的能量变化情况,基于能量不断增加的思想设计出摇起控制器;在平衡区,把系统的不确定性转化为模型状态矩阵的不确定性,引入H标准设计方法,得出存在H状态反馈控制器的充要条件,通过求解线性矩阵不等式使系统有效地克服不确定性的影响实现二次稳定;最后通过仿真实验验证了所提方法的有效性.

Global robust control of a class of underactuated mechanical systems

This paper presents a global robust control strategy for a class of underactuated mechanical systems called Acrobot with centriod uncertainties.First,the system model with parameter uncertainties is given.Then,a swing up controller is proposed based on the ideal of increasing system's energy with each swing.In the balance area,the linear model with parameter uncertainties is deduced by reformulating the uncertainties of the system as the uncertainties of the model state matrix.A necessary and sufficient con...