一类树状欠驱动系统的反推程序

2011 International Conference on Communications, Computing and Control Applications (CCCA) Pub Date : 2011-03-03 DOI:10.1109/CCCA.2011.6031527

A. Choukchou-Braham, B. Cherki, M. Djemai

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引用次数: 8

摘要

本文提出用坐标变换和控制律变换的方法，将欠驱动机械系统的一个子类的树状结构转化为链状结构。通过这种方式，我们允许将一些经典的控制设计作为后退和反馈线性化扩展到一类欠驱动系统，这些方法最初无法应用于这些系统。特别地，采用系统的后退策略来稳定Tora系统，以显示该程序的有效性。然而，由于变换，控制方案中的一个假设只在一个域上验证，而不是在空穴空间上验证。由该方法导出的控制律仍然适用，但稳定性不是全局的。为了使后者成为全局控制，我们建议在奇点附近切换到另一个控制。给出了混合开关控制的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A backstepping procedure for a class of underactuated system with tree structure

In the present paper, we propose to transform via a change of coordinates and control law the structure of a subclass of underactuated mechanical system in tree structure to a chain one. By this way, we allow extension of some classical control design as backstepping and feedback linearization to a class of underactuated system to which these approaches fail to be applied initially. Specially, a systematic backstepping strategy is applied to stabilize the Tora system to show the effectiveness of the procedure. However, due to the transformation, one assumption in the control scheme is verified only on a domain rather then the hole space. The control law derived from this procedure can still be applied but the stability is not global. In order to make the latter global, we propose to switch to an other control near the singularities. The simulation results for using the hybrid switching control are given.

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2011 International Conference on Communications, Computing and Control Applications (CCCA)

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