摘要
针对一类具有不确定参数的非线性欠驱动系统,研究了其基于辅助关联参考目标的跟踪控制问题,并提出了相应的自适应跟踪控制方案。首先建立欠驱动系统的动力学模型;然后基于辅助关联参考目标结合Lyapunov稳定性理论,合成了被控欠驱动系统的自适应跟踪控制方案;最终给出数值仿真验证了该控制方案的有效性。
Consider a class of nonlinear underactuated systems with uncertain parameters,the tracking control problem based on auxiliary associated reference target is studied,and the corresponding adaptive tracking control scheme is proposed.Firstly,the dynamics model of underactuated system is proposed.Then based on the auxiliary associated reference target and Lyapunov stability theory to synthesize the adaptive tracking control scheme of the controlled underactuated system.Finally,numerical simulation is given to verify the effectiveness of the control scheme proposed in this paper.
出处
《工业控制计算机》
2023年第6期94-96,共3页
Industrial Control Computer
基金
国家自然科学基金项目(61673120)。
关键词
不确定欠驱动系统
辅助关联参考目标
自适应跟踪控制
uncertain underactuated system
auxiliary associated reference target
adaptive tracking control
