欠驱动机器人的切换姿态优化及全局稳定控制

State switching optimization and global stability control strategy for underactuated two-link manipulator

讨论了欠驱动两杆机器人控制中存在的控制器切换问题并将其归纳为一类优化问题,提出了一种优化切换姿态并保证全局稳定的控制器设计方案。在系统全局稳定的条件下,将对欠驱动关节的控制能力作为优化目标。采用基于弱控制Lya-punov函数的方法设计摆起控制器;利用线性二次调节器(linear quadratic regulator,LQR)方法设计平衡控制器;使用控制器切换环节实现控制器的最优切换,其中控制器切换环节的设计借助平衡控制器吸引域的概念和遗传算法来实现。仿真实验中,应用该方法得到的控制器不仅能实现控制目标,还能使系统具有更强的抗干扰能力,并缩短18.8%的控制时间。

This paper discusses the problem of switching between controllers for underactuated two-link manipulator,and describes it as an optimal problem.A state switching optimization and global stability control strategy is presented.Under the condition of system global stability,the control ability for underactuated joint is taken as the optimization goal.A swing-controller is designed using the method based on weak-control Lyapunov function and linear quadratic regulator（LQR） method is used to design the balance-controller.A controller-switch is used to make the best switching between the two controllers.The concept of balance-controller attractive area and genetic algorithm are employed to design the controller-switch.In simulation,using the controller presented in this paper could not only finish the control mission with descending control time by 18.8%,but also make the system more robust to the interference.