一类欠驱动机械系统的虚约束动态伺服控制

为了克服欠驱动机械系统无法对任意点和轨迹进行跟踪的缺点,扩大欠驱动机械系统应用领域,研究一类欠驱动机械系统的动态伺服控制问题,动态伺服控制通过规划和跟踪特定轨迹来实现任意位形空间点的瞬时可达.采用虚约束方法来规划动态伺服轨迹,通过构造自由度之间的约束关系,并对约束作用下系统零动态进行分析,可以方便获得符合系统特性的周期轨道；利用虚约束函数与轨道函数之间的内在联系,基于Lyapunov稳定性理论设计轨迹跟踪控制器.最后,在Acrobot实物平台上进行了实验,实验结果证明轨迹规划方法和控制方法的有效性.

Virtual constraints based dynamical servo control for a class of underactuated mechanical systems

To overcome the shortcomings of underactuated mechanical systems which are unable to track arbitary point and trajectory, give full play to the resource and energy comsuming advantage and enlarge the application area, the dynamical servo control problem for a class of underactuated mechanical systems was studied. The dynamcal servo control aims to realize reaching any point in configuration space by planning and tracking specific trajectory. The virtual constraints method was used to plan the dynamcial servo trajectory. By constructing the constraint relation between freedoms and analysing the system zero dynamics , periodic orbits meeting system dynamics were gained easily. Using the inner connection between the virtual constraints and orbit function, a orbit tracking controller was designed based on Lyapunov stability theory. The experiment was performed on the Acrobot Platform and experiment results shows the effectiveness of the trajectory planning method and control method．