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欠驱动板球系统的轨迹跟踪控制器设计

发表时间:2009-09-30  浏览量:1405  下载量:487
全部作者: 隋振,伏思燕,田彦涛,王红睿
作者单位: 吉林大学通信工程学院
摘 要: 研究了欠驱动板球系统的轨迹跟踪控制问题,利用非线性控制算法设计了轨迹跟踪控制器。考虑到在非线性控制算法中的递推设计可以忽略系统中的离心力及耦合,通过反步设计方法(反步法)可以得到板球系统的大范围渐近稳定性。在讨论了板球系统的数学模型后,利用反步法为板球系统设计了力矩控制器,力矩是使平板倾斜的动力。最后通过仿真对所设计的跟踪控制器进行分析及评价,仿真结果证明了此方法对板球系统的有效性。
关 键 词: 控制理论;板球系统;反步法;力矩控制器
Title: The tracking controller for the underactuated ball and plate system based on backstepping design
Author: SUI Zhen, FU Siyan, TIAN Yantao, WANG Hongrui
Organization: School of Communication Engineering, Jilin University
Abstract: Tracking control problem of nonlinear underactuated ball and plate system is studied in this paper. Trajectory tracking controller for the ball and plate system is constructed using backstepping design. And torque is used as the control input. Both centrifugal force and coupling are considered and cancelled completely in the recursive design of the tracking controller rather than centrifugal force only. Global asymptotic stability of the ball and plate system is achieved by the backstepping design. And the proposed tracking controller is evaluated by simulations.
Key words: control theory; ball and plate system; backstepping method; torque controller
发表期数: 2009年9月第18期
引用格式: 隋振,伏思燕,田彦涛,等. 欠驱动板球系统的轨迹跟踪控制器设计[J]. 中国科技论文在线精品论文,2009,2(18):1949-1957.
 
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