一种针对Acrobot上摆控制问题的鲁棒控制方法

Xin Xin, M. Kaneda
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引用次数: 27

摘要

研究了Acrobot的摆动控制,即将Acrobot从稳定的向下位置移动到不稳定的倒立位置,并在垂直方向上保持平衡。本文采用Spong(1995)提出的摆升阶段部分线性化控制与捕获和平衡阶段鲁棒控制相结合的方法。其关键思想是首先将第二连杆在垂直方向上旋转时的速度作为不确定性,然后设计基于二次镇定方法的鲁棒控制器来处理这种不确定性。结果表明,鲁棒控制器总体上优于LQR控制器对机器人的捕获和平衡,并且可以改善在摆动上升阶段调整增益的难度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A robust control approach to the swing up control problem for the Acrobot
Studies the swing up control for the Acrobot, i.e., to move the Acrobot from its stable downward position to its unstable inverted position and balance it about the vertical. The combination of the partial linearization control for the swing up phase proposed by Spong (1995) and the robust control for the capture and balance phase is utilized in this paper. The key idea is first to treat the speed of the second link when it rotates across the vertical as an uncertainty, and then to design a robust controller based on the quadratic stabilization method to cope with such uncertainty. It is shown that that the robust controller is generally superior to the LQR controller in capturing and balancing the Acrobot, and the difficulty of tuning the gains in the swing up phase can be ameliorated.
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