欠驱动Furuta摆的摇起与平衡控制

欠驱动机械系统是一类构成系统的广义坐标维数多于控制输入维数的非线性系统.该系统具有很强的非线性,对于这类系统的研究有助于非线性控制理论的发展.针对欠驱动Furuta摆系统,利用非线性控制方法分别设计了摇起和平衡控制器.运用基于能量的控制方法设计了摇起控制器,利用LQR方法设计平衡控制器.两个控制器通过切换实现控制转换.最后通过仿真实验验证了控制器的可行性.

Swing-up and balance control of Furuta pendulum for underactuated systems

Underactuated system is a nonlinear control in which the dimension of generalized coordinates is more than the dimension of control input. Research in such strong nonlinear system is helpful to the development of the nonlinear control theory. Using the nonlinear control, swinging up and balancing of underactuated Furuta pendulum are designed in the paper. By adopting the energy-based and LQR method, a swing up controller and a balancing controller are designed. Two controllers are properly transformed through switching. The simulation results show that the proposed method is effective.