摘要
提出一种基于非光滑Lyapunov函数的Acrobot控制器设计和全局稳定性分析方法.基于三个Lyapunov函数分别设计了三种控制规律,用米增加Acrobot的能量和保持合适的姿态,使Acrobot摇起并稳定在垂直向上的不稳定平衡点.应用LaSalle不变原理和非光滑Lyapunov函数理论,保证了Acrobot在整个运动空间的全局稳定性.仿真结果证明了该方法的有效性.
This paper presents a controller design and global stability analysis of acrobots based on non-smooth Lyapunov functions. Three control laws that are derived based on three Lyapunov functions are applied successively to achieve a suitable posture and increase the energy so as to stabilize the acrobot at an unstable inverted equilibrium position. LaSalle invariant theorem and non-smooth Lyapunov function are employed to theoretically guarantee the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy.
出处
《自动化学报》
EI
CSCD
北大核心
2007年第7期719-725,共7页
Acta Automatica Sinica
基金
国家自然科学基金项目(60674044)
国家杰出青年科学基金(60425310)资助~~