一类欠驱动系统的控制方法综述

A review for the control of a class of underactuated systems

近年来欠驱动系统已经成为机器人与自动控制领域的研究热点之一,本文对一类欠驱动系统(欠驱动连杆系统)的控制方法的研究状况进行了综述.首先给出了欠驱动系统的动力学模型,并介绍了2种基本控制模式;随后,对其主要的控制方法,包括最优控制方法、运动规划法、部分反馈线性化方法、能量(无源)方法、变量降维法、分级控制设计方法及智能控制方法,展开了分析与讨论;在此基础之上,对欠驱动连杆控制系统设计存在的抗干扰性、实用性及快速性等主要问题进行了简要分析,并就今后的研究方向进行了展望,如鲁棒策略、饱和控制与有限时间控制等.

Recently, research on underactuated systems has become a hot topic in the robotics and automation fields. The research status for the control of a class of underactuated systems （termed as underactuated link systems） was reviewed in this paper. Specifically, the system dynamics was presented first, and two basic control modes were introduced. Subsequently, the main control strategies, which include optimal control methods, motion planning methods, partial feedback linearization methods, energy-based methods, state dimension reducing methods, hierarchical control design methods, and intelligent schemes, were analyzed. Finally, some major issues associated with the control system design for underactuated link systems, such as robustness, practicability, rapidness and so on, were sketched, and corresponding prospects including robust strategy, saturation control and finite time control etc. were proposed for future work.