摘要
针对平面Acrobot的控制稳定性问题,运用基于能量的控制方法,建立了平面Acrobot数学模型,根据无源性理论证明其满足无源性条件;在此基础上,从能量的角度出发,根据Lyapunov稳定性理论推导出了系统的控制律;根据拉萨尔不变集原理证明系统在目标平衡位置处达到渐近稳定。在MATLAB中通过两个算例进行仿真实验,仿真结果证明了控制方法的有效性。
For the control stability of the planar Acrobot,the energy-based control method is applied. The mathematical model of the plane Acrobot is established,which is proved to satisfy the passive condition according to the passive theory. On this basis,the control law of the system is derived from the energy point of view based on the Lyapunov stability theory. According to the la Salle invariant set principle,the system is asymptotically stable at the target equilibrium position. In MATLAB,two numerical examples are simulated,and the simulation results prove the validity of the energy method.
出处
《北京信息科技大学学报（自然科学版）》
2017年第4期18-22,28,共6页
Journal of Beijing Information Science and Technology University
基金
国家自然科学基金资助项目(11472058)
