| 一类欠驱动机械系统的非线性控制 |
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| 引用本文： | 高丙团, 陈宏钧,张晓华.一类欠驱动机械系统的非线性控制[J].控制与决策,2006,21(1):104-0106. |
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| 作者姓名： | 高丙团 陈宏钧 张晓华 |
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| 作者单位： | 哈尔滨工业大学,电气工程系,哈尔滨,150001;哈尔滨工业大学,电气工程系,哈尔滨,150001;哈尔滨工业大学,电气工程系,哈尔滨,150001 |
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| 摘 要： | 针对一类欠驱动机械系统．分析了其数学模型，提出了一种基于部分反馈线性化的非线性控制方案．该方案利用精确线性化的方法将欠驱动系统直接激励部分线性化，将被动部分作为系统的内部动态考虑;并选择直接激励的自由度作为系统输出．进行系统的轨迹跟踪控制;通过分析系统的内部动态，证明了零动态的稳定性能保证控制系统的稳定性．最后通过对吊车的负载防摆控制的研究．验证了该方案的可行性．
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| 关 键 词： | 非线性控制 欠驱动机械系统 部分反馈线性化 跟踪控制 吊车防摆 |
| 文章编号： | 1001-0920（2006）01-0104-03 |
| 收稿时间： | 2004-12-01 |
| 修稿时间： | 2004-12-012005-03-03 |
Nonlinear Control for a Class of Underactuated Mechanical Systems |
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| GAO Bing-tuan,CHEN Hong-jun,ZHANG Xiao-hua.Nonlinear Control for a Class of Underactuated Mechanical Systems[J].Control and Decision,2006,21(1):104-0106. |
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| Authors: | GAO Bing-tuan CHEN Hong-jun ZHANG Xiao-hua |
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| Affiliation: | Department of Electrical Engineer, Harbin Institute of Technology, Harbin 150001, China. |
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| Abstract: | A mathematical model of a class of underactuated mechanical systems is analyzed and a nonlinear control scheme based on partial feedback linearization is presented. In the underactuated mechanical system, the dynamics corresponding to the active degrees of freedom are linearized based on the exact linearization design technique, while the dynamics corresponding to the passive degrees are taken as the internal dynamics of the system. The trajectory tracking control of the linearized system is studied by choosing the active degrees as the system outputs. The analysis of the system internal dynamics shows that the stability of the zero dynamics guarantees the stability of the control system. Finally, simulation is done for the anti-swing control of an overhead crane system. |
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| Keywords: | Nonlinear control Underactuated mechanical systems Partial feedback linearization Tracking control Anti-swing of overhead crane |
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