两个刚体角速度运动的部分同步

Partial synchronization of angular velocity motions of two rigid bodies

研究了两个刚体角速度运动关于部分状态变量———惯性主轴角速度的同步控制.基于李亚普诺夫部分稳定性理论,分别采用双向耦合的部分状态变量线性反馈控制和部分变量的单向非线性反馈控制两种方法,构造出了一些控制器.同时,对于惯性主矩不同的取值范围,利用部分变量的单向非线性反馈控制方法可以采用不同的控制策略.所设计的控制器可以实现两个刚体的角速度运动达到关于惯性主轴角速度的部分同步.仿真结果说明了所设计控制器的有效性.

The partial synchronization control was investigated for angular velocity motions of two rigid bodies with respect to part state variables-the angular velocitywith respect to the principal axes of intertia. Based on the theory of Lyapunov partial stability, two control approaches for partial synchronization of angular velocity motions of two rigid bodies, namely a line feedback controller with bi-directional coupling for part state variables and nonlinear feedback controllers with unidirectional coupling for part state variables were discussed and some controllers for partial synchronization were constructed. Meanwhile, in the light of different values for the principal moments of intertia, some dif- ferent controllers are proposed by utilizing different nonlinear feedback controllers with unidirectional coupling for part state variables. The proposed controllers can achieve partial synchronization for the angular velocity with respect to the principal axes of intertia between angular velocity motions of the two rigid bodies discussed. Finally, simulation results demonstrate the effectiveness of the proposed controllers.