欠驱动RTAC系统的自适应耦合控制器设计

摘要

In this paper, an adaptive energy-based con-trol method is proposed for rotational/translational actuator (RTAC) systems. Different from the existing methods, the pro-posed method could estimate the system parameters such as the translational oscillator mass, etc., online according to the system responses. In particular, the system energy of the RTAC system is analyzed firstly. Then, a novel energy storage function is in-troduced and an adaptive coupling control method is proposed straightforwardly, where a projection algorithm, as the update law, is utilized to guarantee the estimated parameters in pre-set scope and assure the convergence of the closed-loop system. Consequently, the stability of the closed-loop system is proven by Lyapunov techniques and LaSalle0s invariance theorem. Sim-ulation results are presented to demonstrate the effectiveness of the proposed control method. The results show that the control performance of the proposed method is favourable.%针对欠驱动(Rotational/translational actuator, RTAC)系统,设计了一种基于能量分析的自适应控制器。相比其他控制方法,该控制策略可根据系统响应情况对平移振荡器质量等系统参数进行在线估计。具体而言,首先分析了RTAC系统的总能量；随后,在此基础上构造了一个新颖的Lyapunov 函数,从而得到了一种自适应耦合控制器,采用投影算子作为更新律以确保估计参数在预设的界内并保证系统的收敛性；最后,采用Lyapunov 方法及LaSalle 不变性原理证明了闭环系统的稳定性。通过数值仿真验证了所提控制器的有效性,结果表明所提自适应控制器具有良好的控制性能。