电气工程 |
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一类欠驱动机械系统的虚约束动态伺服控制 |
程红太,张晓华 |
哈尔滨工业大学 电气工程及自动化学院,黑龙江 哈尔滨 150001 |
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Virtual constraints based dynamical servo control for a class of underactuated mechanical systems |
CHENG Hong-tai, ZHANG Xiao-hua |
Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China |
[1] SPONG M W. The swing up control problem for the Acrobot [J]. IEEE Control Systems Magazine, 1995,15(1):49-55. [2] XIN X, KANEDA M. The swing up control for the Acrobot based on energy control approach [C]∥Proceeding of the 41st IEEE Conferenceon Decision and Control. Las Vegas: IEEE, 2002,1 :3261-3266. [3] BERKEMEIER M D, FEARING R S. Tracking fast inverted trajectories of the underactuated Acrobot [J]. IEEE Trans. on Robotics and Automation, 1999, 15(4):740-750. [4] 张晓华, 程红太, 赵旖旎. 基于能量的Acrobot动态伺服控制[J]. 控制与决策,2008,23(11), 1258-1262. ZHANG Xiaohua, CHENG Hongtai, ZHAO Yini. Energy based dynamical servo control for the Acrobot [J]. Control and Decision,2008,23(11): 1258-1262. [5] CHUNG C C, HAUSER J. Nonlinear control of a swinging pendulum [J].Automatica, 1995, 31 (6) : 851-862. [6] 程红太, 赵旖旎,张晓华,Acrobot动态伺服控制及其对称虚约束方法研究[J],自动化学报,2010,36(11):1594-1600. CHENG Hongtai, Zhao Yini, Zhang Xiaohua. Study of dynamical servo control for the acrobot and symmetrical virtual constraints method [J]. ACTA AUTOMATICA SINICA,2010,36(11): 1594-1600. [7] SHIRIAEV A, PERRAM J W, CANUDAS DE WIT. Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach [J]. IEEE Trans. on Automatic Control, 2005, 50(8): 1164-1176. [8] METTIN U, LA HERA P, FREIDOVICH L, et al. Generating humanlike motions for an underactuated threelink robot based on the virtual constraints approach [C]∥ Proceeding of the 46th IEEE Conference on Decision and Control. New Orleans: IEEE, 2007, 1:5138-5143. [9] SHIRIAEV A, PERRAM J, ROBERTSSON A, et al. Explicit formulas for general integrals of motion for a class of mechanical systems subject to virtual constraints [C]∥ Proceeding of the 43rd IEEE Conference on Decision and Control. Nassau, Bahamas: IEEE, 2004, 2:1158-1163. [10] SHIRIAEV A, SANDBERG A, CANUDAS DE WIT. Motion planning and feedback stabilization of periodic orbits for an acrobat [C]∥Proceeding of the 43rd IEEE Conference on Decision and Control. Nassau, Bahamas: IEEE, 2004 , 1:290-295. [11] SHIRIAEV A, FREIDOVICH L, ROBERTSSON A. Virtual constraints based design of stable oscillations of furuta pendulum: Theory and experiments [C]∥ Proceeding of the 45th IEEE Conference on Decision and Control. San Diego, CA, USA:IEEE, 2006. 1:6144-6149. [12] SLOTINE J J, LI W, Applied nonlinear control [M]. Englewood Cliffs, NJ: Prentice Hall, 1991:207-213. |
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