Acrobot基于能量的摇起控制算法与运动特性分析

针对Acrobot等一类二连杆欠驱动系统提出了一种基于能量增加的摇起控制算法。该控制算法从保证系统能量增加的角度出发实现系统的摇起控制。对在该算法下系统摇起过程的动力学和运动学进行了详细分析,并讨论了当系统控制输入参数改变时产生的复杂的动力学和运动学行为,通过以上分析得出了系统运动学和动力学的一般结论。

Swing up control of Acrobot based on the energy and the analysis of the swing up process

The typical example of underactuated system Acrobot was studued and a swing up control strategy was designed based on energy incrementof the system such that the proposed control scheme can guarentee the energy increase to realize swing up control of the system. The both dynamics and kinetics of the swing up process was analyzed in detail. In addition, the complex dynamic and kinetic phnomenon was studied when system control parameters were changed. On the basis of the analysis, some general conclusions concerned the dynamics and kinetics of the system were obtained.