基于输出反馈的欠驱动TORA系统的有界输入控制

Output-based Feedback Control of Underactuated TORA Systems by Bounded Inputs

针对欠驱动TORA(Translational oscillations with a rotational actuator)系统,设计了一种具有执行器饱和约束的输出反馈等[7]特别地,由Rand学者提出的TORA系统,最初控制器.与其他现有方法相比,本文方法不仅考虑了执行器饱和约束和作为双自旋航天器的简化模型用于研究自振现象.后来由于速度信号不可测情形,而且考虑了旋转小球可能存在的循环行为.具体而TORA系统具有强耦合、高度非线性、欠驱动等特性,而被言,首先根据TORA系统模型分析了TORA系统的控制目标;随后,作为一种非线性基准系统主要用于非线性控制器设计、验证构造了一种新颖的能量函数,在此基础上设计了一种考虑执行器饱和约非线性控制算法的控制性能或教学研究.目前国内外已有多束的输出反馈控制器,并通过严格的数学分析证明了闭环系统关于平衡点的稳定性;最后,借助数值仿真测试检验了所提控制器的控制性能,并所高校和研究机构针对TORA系统的控制问题展开研究.对与已有方法进行了对比.仿真测试结果表明本文所提方法具有更好的控法制性能.

In this paper,an output feedback controller with the actuator saturation constraint is designed for the underactuated translational oscillations with a rotational actuator(TORA)system.By comparing with the existing control methods,in this paper,not only are the actuator saturation constraint and unmeasured velocity signal taken into consideration,but also the undesired unwinding behaviour is taken into account.In particular,the control ob jective of the TORA system is rstly analyzed TORA on the basis of the TORA system model.Then,a novel en-ergy function is constructed and an output feedback controller is proposed straightforwardly,which takes the actuator saturation constraint into consideration.The stability of the closed-loop system with respect to the equilibrium point is proven through rigorous mathematical analysis.Finally,the control performance of the proposed controller in comparison with an existing control method is examined by using numerical simulation tests.The results of simulation tests show that the proposed method achieves better control performance.