基于生物启发模型的欠驱动水平TORA系统 的有界输入镇定控制
作者:
作者单位:

湖南科技大学

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中图分类号:

TP24

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目);湖南省自然科学基金项目(2019JJ50157).


Stabilization of Underactuated Horizontal TORA Based on Biologically Inspired Model With Bounded Inputs
Author:
Affiliation:

Hunan University of Science and Technology

Fund Project:

The National Natural Science Foundation of China (General Project, Key Project, Major Project); The Natural Science Foundation of Hunan Province (2019JJ50157).

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    摘要:

    针对欠驱动水平TORA (Translational oscillators with rotating actuator)系统,提出一种基于生物启发模型的有界输入控制方法,实现系统在执行器存在饱和约束情况下的镇定控制。首先根据水平TORA系统的动力学模型分析系统的无源特性,进而给出系统的控制目标;接着基于无源特性构造一种新颖的Lyapunov函数,在此基础上设计一种结构简单的非线性状态反馈控制器;然后考虑执行器的饱和约束条件,引入受生物启发建立的神经动力学模型,利用该模型的有界平滑输出特性,设计一种改进的状态反馈控制器;最后根据LaSalle不变性原理对系统的稳定性进行严格的数学分析与证明。与其他方法相比,所提方法不仅考虑了执行器的饱和约束问题,而且设计的控制算法简洁高效,易于工程实现。仿真与对比结果表明所提方法具有更好的控制性能。

    Abstract:

    A bounded input control method based on biologically inspired model is proposed for the underactuated horizontal translational oscillators with rotating actuator (TORA) system to realize the stabilization control of the system with actuator saturation constraints. Firstly, the passivity property is analyzed based on the dynamics of the TORA system, and the control objective of the system is given. Next, a novel passivity-based Lyapunov function is constructed, and a simple nonlinear state feedback controller is designed straightforwardly. Then, considering the actuator saturation constraints, a biologically inspired neural dynamic model is introduced, and an improved state feedback controller is designed by using the bounded smooth output characteristics of the neural dynamics. Finally, the stability of the control system is strictly analyzed and provedand by LaSalle invariance principle. Compared with other methods, the proposed method not only takes the actuator saturation constraint into account., but also provides a simple but efficient control algorithm, which is easy to implement in engineering. Simulation and comparison results show that the proposed method has better control performance.

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历史
  • 收稿日期:2020-11-22
  • 最后修改日期:2021-03-08
  • 录用日期:2021-03-16
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