惯性轮摆镇定控制器的迭代设计方法

摘要

针对惯性轮摆系统的镇定控制问题,提出了一种控制器迭代设计方法.该方法首先通过坐标变换将惯性轮摆系统转换为一个非线性级联系统,然后通过迭代设计和坐标逆变换,获得惯性轮摆系统的状态反馈镇定控制器,并证明了所得控制器能够使得惯性轮摆系统稳定在摆杆垂直向上的平衡位置.最后参考一个实际的惯性轮摆系统的物理参数,通过仿真,验证了所设计控制器的有效性.与已有方法相比,该方法更为简洁,更适合推广到其他欠驱动系统的镇定控制.%Aimed at the stabilization problem of the Inertia Wheel Pendulum system, a recursive design method of stabilization controller was proposed. In this method, the Inertia Wheel Pendulum system was transformed into a nonlinear cascade form through a coordinate transformation firstly. And through a recursive design procedure and inverse coordinate transformation, a state feedback controller of Inertia Wheel Pendulum system with explicit form was obtained. And then the stability of the Inertia Wheel Pendulum system under the proposed controller at position, where the pole was vertial up, was proved. Finally , the effectiveness and performance of the proposed stabilization controllers for an inertia wheel pendulum system whose parameters were taken from a real-life model of the IWP was shown through simulations. Compared with some existing method, the proposed method in this paper was more simplicity and suitable to expand to the stabilization of other underactuated systems.