具有不确定角点平衡Cubli系统的自适应鲁棒控制

IF 0.8 4区工程技术 Q4 ENGINEERING, MECHANICAL

Transactions of The Canadian Society for Mechanical Engineering Pub Date : 2022-03-02 DOI:10.1139/tcsme-2021-0008

K. Huang, Jiandong Li, Zicheng Zhu, Biao Yu

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引用次数: 0

摘要

Cubli是一个立方体，可以通过转动惯性轮在其边缘或角落保持平衡。它是一个典型的欠驱动机械系统，在其角上平衡时具有6个自由度。针对不确定Cubli系统，提出了一种自适应鲁棒控制方法。不确定性被认为是时变的和有界的，但边界是未知的。首先建立了受伺服约束的不确定Cubli系统的动力学模型。其次，我们提出了具有泄漏型自适应律的鲁棒控制。我们使用李亚普诺夫理论来验证控制的稳定性。最后，在MATLAB™中通过数值仿真验证了控制的有效性。

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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Adaptive robust control for the corner balancing Cubli system with uncertainties

The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB™.

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来源期刊

Transactions of The Canadian Society for Mechanical Engineering 工程技术-工程：机械

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

5 months

期刊介绍： Published since 1972, Transactions of the Canadian Society for Mechanical Engineering is a quarterly journal that publishes comprehensive research articles and notes in the broad field of mechanical engineering. New advances in energy systems, biomechanics, engineering analysis and design, environmental engineering, materials technology, advanced manufacturing, mechatronics, MEMS, nanotechnology, thermo-fluids engineering, and transportation systems are featured.