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针对欠驱动TORA系统,设计一种镇定控制器和增强型耦合控制器.根据TORA系统的动力学模型,分析旋转小球与平移振荡器之间的耦合关系和系统的无源特性.构造一个新型的Lyapunov函数,并得到一种耦合镇定控制器.采用Lyapunov方法和LaSalle不变性原理证明了闭环系统的稳定性.最后,通过改进所设计的控制器得到一种增强型耦合控制器.仿真结果验证了所提出控制器的有效性和优越性.
Aiming at the under-actuated TORA system, a stabilization controller and an enhanced coupling controller are designed. According to the dynamic model of the TORA system, the coupling relationship between the rotating ball and the translational oscillator and the passive characteristics of the system are analyzed. The Lyapunov function is obtained and a coupled stabilization controller is obtained. The stability of the closed-loop system is proved by the Lyapunov method and the LaSalle invariance principle. Finally, an enhanced coupled controller is obtained by improving the designed controller. The proposed controller is effective and superior.