...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mathematical Problems in Engineering: Theory, Methods and Applications >Nonlinear Global Stabilization Control for the Underactuated WAcrobot System
【24h】

Nonlinear Global Stabilization Control for the Underactuated WAcrobot System

机译：非线性全球稳定控制欠扰动的Wacrobot系统

获取原文
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A WAcrobot is an underactuated nonlinear system that has three degrees of freedom (DOF) and two inputs. This paper discusses the global stabilization control problem for this 3-DOF underactuated system. A new control strategy is developed to solve this problem. The strategy first changes the 3-DOF WAcrobot system to be a 2-DOF reduced-order model in finite time. This transforms the stabilizing control of the WAcrobot system into that of the reduced-order model. After that, nonsingular control laws that globally stabilize the reduced-order model at the origin are designed. It guarantees the stabilizing control objective of the WAcrobot to be achieved. Finally, a simulation experimental example demonstrates the validity of the presented theoretical results. Simulation results show the advantage of our strategy over others.
机译：Wacrobot是一种欠施加的非线性系统，具有三个自由度（DOF）和两个输入。本文讨论了这款3-DOF欠扰动系统的全球稳定控制问题。开发了一种新的控制策略来解决这个问题。该策略首先在有限时间内将三-COF Wacrobot系统改变为2-DOF阶数模型。这将Wacrobot系统的稳定控制变为阶阶模型的稳定控制。之后，设计了全球稳定原点上减少阶层模型的非法控制法。它保证了待实现Wacrobot的稳定控制目标。最后，模拟实验例证明了呈现的理论结果的有效性。仿真结果表明我们对他人的策略的优势。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号