非线性基准系统的输入受限输出反馈动态脉冲混杂全局调节器设计

Output feedback global regulation for nonlinear benchmark system with input constrains using hybrid dynamic impulse controller

针对非线性控制中出现的基准系统——转动作动/平移校正系统,设计了一个输出反馈动态脉冲混杂控制器来实现系统的全局调节。该控制器的设计综合了欧拉-拉格朗日系统控制中常用的能量整形加阻尼注入原理及非线性系统扩展LaSalle不变集原理的有关结果。从能量耗散的角度定性地说明了该控制器的优越性。计算机仿真结果表明,其控制性能优于连续的饱和无源控制器并且具有较强的鲁棒性。

Through the solution of inverse kinematics, a classified neural network was trained by genetic arithmetic combined with Levenberg-Marquardt method to recognize the relationship between joint space and Cartesian space of parallel robot and the evaluation of forward kinematics（FKs） in a range with a little error was provided. Using Quasi-Newton iteration method, accurate solution can be obtained. Applied the proposed solution in 6-PRRS parallel robot, the result shows that this method can get high precision value and spends little time. Therefore it can be applied in real time task space control or in getting work space of parallel robot.