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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Stable Control Strategy for Planar Three-Link Underactuated Mechanical System
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Stable Control Strategy for Planar Three-Link Underactuated Mechanical System

机译：平面三连杆欠驱动机械系统的稳定控制策略

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摘要

A stable-control strategy for a planar three-link passive–active–active underactuated mechanical system not subject to gravity constraints has been devised. The control objective is to move the end effector from any initial position to any target position. First, a dynamic model of the system is built, and its properties are analyzed. Next, based on the complete integrability of an underactuated planar acrobot (UPA), the control of a planar three-link system is divided into two stages. In each stage, keeping the angle of one active link constant reduces the planar three-link system to a UPA, thereby enabling the use of quadrature to obtain the angle constraint relationships between the passive and active links. Then, the target angles associated with the target position are calculated by particle swarm optimization based on the angle constraint relationships. Finally, a controller for each stage is designed, ensuring that the control objective will be reached. Simulation results demonstrate the validity of this control method.
机译：已经设计了不受重力约束的平面三连杆被动-主动-主动欠驱动机械系统的稳定控制策略。控制目标是将末端执行器从任何初始位置移动到任何目标位置。首先，建立系统的动态模型，并分析其性能。接下来，基于欠驱动平面杂技机器人（UPA）的完全可集成性，平面三连杆系统的控制分为两个阶段。在每个阶段中，保持一个主动连杆的角度恒定会减少平面三连杆系统对UPA的影响，从而可以使用正交来获得被动和主动连杆之间的角度约束关系。然后，基于角度约束关系，通过粒子群优化计算与目标位置关联的目标角度。最后，为每个阶段设计一个控制器，以确保达到控制目标。仿真结果证明了该控制方法的有效性。

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