| Acrobot控制器设计与全局稳定性分析 |
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| 引用本文： | 赖旭芝,吴敏,佘锦华,YANG Simon X..Acrobot控制器设计与全局稳定性分析[J].自动化学报,2007,33(7):719-725. |
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| 作者姓名： | 赖旭芝 吴敏 佘锦华 YANG Simon X. |
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| 作者单位： | 1.中南大学信息科学与工程学院 长沙 410083 |
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| 基金项目： | 国家自然科学基金;国家自然科学基金 |
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| 摘 要： | 提出一种基于非光滑 Lyapunov 函数的 Acrobot 控制器设计和全局稳定性分析方法. 基于三个 Lyapunov 函数分别设计了三种控制规律, 用来增加 Acrobot 的能量和保持合适的姿态, 使 Acrobot 摇起并稳定在垂直向上的不稳定平衡点. 应用 LaSalle 不变原理和非光滑 Lyapunov 函数理论, 保证了 Acrobot 在整个运动空间的全局稳定性. 仿真结果证明了该方法的有效性.
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| 关 键 词： | Acrobot 模糊控制 稳定性 非光滑Lyapunov函数 LaSalle不变原理 |
| 收稿时间： | 2005-12-22 |
| 修稿时间： | 2005-12-222006-08-10 |
Controller Design and Global Stability Analysis of Acrobot |
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| LAI Xu-Zhi,WU Min,SHE Jin-Hua,YANG Simon X..Controller Design and Global Stability Analysis of Acrobot[J].Acta Automatica Sinica,2007,33(7):719-725. |
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| Authors: | LAI Xu-Zhi WU Min SHE Jin-Hua YANG Simon X |
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| Affiliation: | 1.School of Information Science &Engineering, Central South University, Changsha 410083, P.R.China;2.School of Bionics, Tokyo University of Technology, Tokyo 192-0982, Japan;3.School of Engineering, University of Guelph, Guelph N1G 2W1, Canada |
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| Abstract: | This paper presents a controller design and global stability analysis of acrobots based on non-smooth Lyapunov functions. Three control laws that are derived based on three Lyapunov functions are applied successively to achieve a suitable posture and increase the energy so as to stabilize the acrobot at an unstable inverted equilibrium position. LaSalle invariant theorem and non-smooth Lyapunov function are employed to theoretically guarantee the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy. |
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| Keywords: | Acrobot |
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