Second order averaging methods for oscillatory control of underactuated mechanical systems
Second order averaging methods for oscillatory control of underactuated mechanical systems
复制标题
欠驱动机械系统振荡控制的二阶平均方法
DOI：
--
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
J. Burdick
中科院分区：
文献类型：
--
作者：
P. Vela;K. Morgansen;J. Burdick
本文研究了欠驱动机械系统在高振幅、高频率激励下的镇定问题。使用高阶平均技术，我们扩展以前的工作的情况下，对称产品的顺序高于一个可控性是必要的。我们首先介绍了一个二阶平均力学系统模型，其中包含高阶项。使用这个结果，我们得到的轨迹跟踪的平均值反馈的误差信号是恒定的整个周期的振荡驱动。仿真结果验证了该方法的有效性。
This paper considers the stabilization of underactuated mechanical systems via high-amplitude, high-frequency actuation. Using higher order averaging techniques, we extend previous work to the case where symmetric products of order higher than one are necessary for controllability. We first introduce a second order averaged mechanical system model that incorporates higher order terms. Using this result, we obtain trajectory tracking in the average by feeding back an error signal that is constant over whole periods of the oscillatory actuation. A simulation demonstrates the method.