【作者】 厉虹； 张冰；

【Author】 Li Hong Zhang Bing (Department of Computer and Automation,Beijing Institute of Machinery,Beijing 100085)

【机构】 北京机械工业学院计算机与自动化系；

【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。本文针对欠驱动 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实现转换。仿真实验结果验证了该方法的有效性。更多还原

【Abstract】 Underactuated systems are second nonholonomic systems with fewer actuators than degrees of freedom.A simple and validity control strategy for the swing up and balancing of underactuated Acrobot system is presented in this paper.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