基于倒转方法的欠驱动Acrobot系统稳定控制

Stabilization Control of Underactuated Acrobot Based on Inverse Method

针对欠驱动两杆体操机器人Acrobot,提出一种新的稳定控制方法.首先,通过利用一个虚拟摩擦力矩为Acrobot构造一条下摆轨迹;然后,运用倒转的思想为它设计出一条由垂直向下位置到垂直向上位置的期望运动轨迹,并以此将系统的稳定控制问题转化为跟踪控制问题;最后,基于最优控制理论来设计跟踪控制器,使Acrobot能够沿期望轨迹渐近稳定在垂直向上位置处.仿真结果验证了所提方法的有效性.

This paper presents a new method of stabilizing an underactuated two-link gymnast robot, Acrobot. First, an artificial friction torque is used to construct a falling-down motion trajectory. Next, we design a reference motion trajectory for the Acrobot from the straight-down position to the straight-up position based on an inverse idea. This transforms the problem of stabilizing the Acrobot into a tracking control problem. Finally, we use the knowledge of optimal control to design a tracking controller, which enables the Acrobot to be asymptotically stabilized at the straight-up position along the desired trajectory. Simulation results demonstrate the validity of our method.