摘要
在欠驱动条件下3D刚体摆姿态稳定的非线性控制设计过程中,将其系统状态分为运动学和动力学2个子系统,采用退步控制方法,分别设计控制律。根据李雅普诺夫方法对中间控制律进行设计,并推算出最终控制律,最终使欠驱动3D刚体达到渐近稳定平衡。数值仿真实验结果验证了所设计控制律的可行性。
Back-stepping control is used for nonlinear control design problem of under-actuated 3D rigid pendulum. The system is divided into two subsystems including dynamic system and kinematics system to design the control law. The intermediate control law is designed by Lyapunov method,then the final control law is calculated. The controller can asymptotically stabilize the under-actuated spacecraft angular velocity. Simulation results show the validity of the controller.
出处
《北京信息科技大学学报（自然科学版）》
2016年第2期59-64,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)
关键词
3D刚体摆
欠驱动
退步控制
中间控制律
仿真
3D rigid pendulum
under-actuated
back-stepping control
intermediate control law
simulation
