基于虚约束的Acrobot动态伺服控制统一设计方法

提出一种基于虚约束的统一设计方法,以解决Acrobot系统中动态伺服控制问题,使系统沿着经过目标点的周期轨迹运动.将虚约束设计、虚约束作用下系统零动态微分方程分析以及轨道周期性判定相结合,获得了符合目标的周期轨道方程;基于Lyapunov方法设计了光滑反馈控制器,克服了基于线性二次型调节器（LQR）的控制器对零动态微分方程解析解的依赖性问题.实际算例的仿真结果表明了统一设计方法的有效性.

Virtual constraints based general design method for dynamical servo control problem for Acrobot

The virtual constraints based general design method is proposed to solve a dynamical servo control problems for the Acrobot system,which forcing it to move along the periodic trajectory passing through the given points.The design of virtual constraint,analysis of system zero dynamics under virtual constraint and periodic property determination of the trajectory are combined to generate the desired periodic orbit function.Based on a Lyapunov methed,smooth feedback controller is proposed to overcome the dependency on the analytic solution of the system zero dynamics which exists in LQR based controller.An example is given and the simulation results show the effectiveness of the proposed general design method.