New Development and Systematization of Nonlinear Control Theory for Underactuated Systems

本研究旨在解决欠驱动系统控制设计与分析中的几个关键问题：欠驱动度系统的轨迹控制(控制输入个数与系统自由度之差)一，欠驱动度二的摆动与稳定控制，欠驱动系统的强镇定控制。对于7个2自由度系统和5个较高自由度系统，利用这些系统所禁止的基本物理性质，提出了上述关键控制问题的精细化解决方案。取得的成果已发表在11篇权威学术期刊论文、1篇施普林格专著、21篇审阅的内部会议论文上。该研究为欠驱动机器人系统非线性控制理论的新发展做出了重要贡献。

This research aims to challenge the following key problems for control design and analysis for underactuated systems: trajectory control for systems with underactuation degree (the difference between the numbers of its control input and degrees of freedom of the system) one, swing-up and stabilizing control for underactuation degree two, strong stabilizing control for underactuated systems. For seven systems with 2 degrees of freedom and five systems with higher degrees of freedom, by using the fundamental physical properties inhibited in these systems, this research presents refined solutions to the above key control problems. The achieved results have been published in 11 authoritative academic journal papers, 1 monograph of Springer, and 21 refereed internal conference papers. This research made an important contribution to new development to the nonlinear control theory for underactuated robotic systems.