【摘要】 欠驱动系统是一类控制器少于系统自由度的二阶非完整系统,在工程技术领域有着广泛的应用背景。针对欠驱动Acrobot机械臂系统,提出一种简单可行的摇起和平衡控制策略。运用部分反馈线性化的状态反馈控制设计摇起控制器,利用模糊控制技术设计平衡控制器,两个控制器通过切换装置实现转换。通过与T-S型的模糊控制器仿真结果进行比较,验证了该方法的有效性。更多还原

【Abstract】 Underactuated systems are second order nonholonomic systems with fewer actuators than degrees of freedom. A simple and valid control strategy for the swinging up and balancing of underactuated Acrobot system is presented in this paper.By using the state feedback control of partial feedback linearization and fuzzy control techniques, a swing up controller and a balancing controller are designed. Two controllers are properly transformed by using switching. The simulation results show that the proposed method is effective.更多还原