【摘要】 针对一类欠驱动机械系统,设计了将系统动力学转换成严格前馈级联非线性系统的坐标和控制变换,基于得到的严格前馈形式的级联非线性系统,给出了系统的嵌套饱和控制器。结合欠驱动车摆系统,采用提出的嵌套饱和控制方案进行了系统的稳定设计,对得到的稳定的控制系统进行了仿真实验,结果表明所提出的控制策略能够有效解决系统动力学可转换成前馈级联非线性系统形式的这类欠驱动机械系统的稳定控制。更多还原

【Abstract】 A coordinates and control change was designed for a class of underactuated mechanical systems to transform the dynamics into cascade nonlinear systems in strict feedforward form,and based on the derived cascade nonlinear system in strict feedforward form,the nested saturation control scheme was proposed for the class of underactuated mechanical systems.To illustrate the feasibility of the presented control scheme,it is employed to stabilize an underactuated cart-pole system.Finally,simulation results demonstrate the effectiveness of the presented control scheme.更多还原