| 欠驱动机械臂的光滑时变指数稳定 |
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| 引用本文： | 何广平,陆震,谭晓兰.欠驱动机械臂的光滑时变指数稳定[J].航空学报,2007,28(3):751-756. |
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| 作者姓名： | 何广平 陆震 谭晓兰 |
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| 作者单位： | 1. 北方工业大学,机电工程学院,北京,100041
2. 北京航空航天大学,自动化学院,北京,100083 |
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| 基金项目： | 国家自然科学基金
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北京市自然科学基金 |
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| 摘 要： | 针对一般欠驱动机械臂的运动规划和控制问题进行研究。从二阶漂移非完整约束系统的一般控制模型出发，基于李代数扩展理论，提出了二阶非完整约束系统的光滑多项式扩展概念，并进一步提出了一种二阶漂移非完整约束系统控制的指数稳定控制方法。针对欠驱动机械臂中从动关节不多于主动关节的情况，给出了一个指数稳定控制定理，并以平面2R和3R欠驱动机械臂进行了仿真。仿真结果证明了提出的指数稳定控制方法的有效性。
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| 关 键 词： | 欠驱动 机械臂 非完整约束 指数稳定 李代数 |
| 文章编号： | 1000-6893(2007)03-0751-06 |
| 修稿时间： | 2006年5月11日 |
Smooth Time-varying Exponential Stabilization of Underactuated Manipulators |
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| HE Guang-ping,LU Zhen,TAN Xiao-lan.Smooth Time-varying Exponential Stabilization of Underactuated Manipulators[J].Acta Aeronautica et Astronautica Sinica,2007,28(3):751-756. |
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| Authors: | HE Guang-ping LU Zhen TAN Xiao-lan |
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| Institution: | 1 School of Mechanical and Electrical Engineering, North China University of Technology 2School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics |
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| Abstract: | The motion planning and control of underactuated manipulator are studied. From point of view of second order nonholonomic system, based on the extension theory of Lie Algebra, a new extension based on smooth trigonometrical polynomial is proposed, and a exponentially stable control method is verified for a class of underactuated manipulator with actuated joints not less than the passive ones. A 2R and a 3R underactuated planar manipulators with one unactuated joint respectively are simulated to show some aspects of the research. The simulation results confirm that the proposed theory stabilizes the control systems exponentially. |
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| Keywords: | underactuated manipulator nonholonomic exponential stabilization Lie Algebra |
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