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针对复杂的非线性欠驱动三杆体操机器人系统,提出了一种基于部分反馈线性化的控制策略。首先,将三杆体操机器人的运动空间分为两个区域:摇起区和平衡区,然后,在摇起区利用部分反馈线性化设计摇起控制器,对第二杆与第三杆进行联动控制,确保欠驱动三杆体操机器人迅速摆起,并且摆起后第二杆和第三杆自然伸展;进入平衡区后,采用基于线性二次型调节器(LQR)的平衡控制器,将系统稳定在竖直向上的位置,实现系统控制目标。仿真结果验证了该控制策略的有效性。
Aiming at the complicated nonlinear under-actuated three-bar gymnastic robot system, a control strategy based on partial feedback linearization is proposed. First of all, the movement space of the three-bar gymnastics robot is divided into two regions: the swing-up area and the balance area, and then the partial-feedback linearization design is used to shake up the controller in the swing-up area to link the second bar and the third bar Control to ensure that the under-actuated three-bar gymnastics swiftly mounted, and the second and third bar naturally extended after swinging out. After entering the balance zone, a balanced controller based on linear quadratic regulator (LQR) Stable in the vertical position, to achieve system control objectives. Simulation results verify the effectiveness of this control strategy.