Design of motion trajectory and tracking control for underactuated cart-pendulum system
Design of motion trajectory and tracking control for underactuated cart-pendulum system
复制标题
欠驱动小车摆系统运动轨迹及跟踪控制设计
DOI：
10.1002/rnc.4502
复制
发表时间：
2019
影响因子：
3.9
通讯作者：
Fawaz Alsaadi
中科院分区：
文献类型：
--
作者：
Ancai Zhang;Jinhua She;Jianlong Qiu;Chengdong Yang;Fawaz Alsaadi
车摆系统是一个具有两个自由度的非线性欠驱动机械系统。本文研究了这种欠驱动系统的运动轨迹设计和跟踪控制问题。首先，为系统设计了一个类摩擦控制律。然后，分析了闭环控制系统的特性。其次，提出了一种新的方法来构造系统的最优轨迹。然后，跟踪控制律的设计，以快速跟踪所构建的轨迹。它保证了小车-摆系统的运动控制是沿着参考轨迹实现的。最后，通过数值算例验证了理论结果的有效性.本研究为车摆系统在其整个运动空间中构造最优轨迹，并通过跟踪所构造的轨迹来求解运动控制目标。与其它运动控制方法相比，该方法具有许多优点，如：用单一控制律实现系统的最优运动控制目标;能准确预测控制系统的运动过程和瞬态特性（如调节时间）。
A cart‐pendulum system is a nonlinear underactuated mechanical system with two degrees of freedom. This paper addresses the motion trajectory design and tracking control problems for this underactuated system. First, a friction‐like control law is designed for the system. Then, the characteristics of the closed‐loop control system are analyzed. Second, a new method of constructing an optimal trajectory for the system is developed. Then, a tracking control law is designed to quickly track the constructed trajectory. It guarantees that the motion control of the cart‐pendulum system is achieved along a reference trajectory. Finally, a numerical example is presented to demonstrate the effectiveness of the theoretical results. This study constructs an optimal trajectory for the cart‐pendulum system in its whole motion space and solves the motion control objective by tracking the constructed trajectory. It has many advantages compared with other motion control methods, eg, the optimal motion control objective of the system is achieved by a single control law; and the motion process and transient characteristics (eg, the settling time) of the control system can be accurately predicted.