|Table of Contents|

Rapid position control approach based on variable design parameter for planar Acrobot(PDF)

[ISSN:1007-449X/CN:23-1 408/TM]

Issue:
2017年09
Page:
110-118
Research Field:
Publishing date:

Info

Title:
Rapid position control approach based on variable design parameter for planar Acrobot
Author(s):
?WANG Ya-wu 12 LAI Xu-zhi 12 WU Min 12
?(1. School of Automation,China University of Geosciences,Wuhan 430074,China; 2. Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,Wuhan 430074,China)
Keywords:
planar underactuated mechanical system planar Acrobot position control particle swarm optimization algorithm nonlinear function
PACS:
TP 4
DOI:
10.15938/j.emc.2017.09.015
Abstract:
?A rapid position control approach based on a variable design parameter was presented for a planar Acrobot which has no gravity item. Firstly,angle constraint relationship and angular velocity constraint relationship between active joint and passive joint were obtained by employing the complete integral characteristics of the planar Acrobot. Next,another kind of the constraint relationship between the endpoint position and two angles of joint was deduced according to the physical structure of the planar Acrobot. Then,the target angles of joint were obtained by using particle swarm optimization (PSO) algorithm based on the above two kinds of constraint relationship. Finally,a controller was designed for planar Acrobot by constructing a Lyapunov function,and a variable design parameter of the controller was chosen to reduce the control time according to the characteristics of parameter. When the active link was controlled to the target angle,the passive link was also controlled jointly to its target angle by utilizing angular velocity constraint relationship and angle constraint relationship. That is,the endpoint of the planar Acrobot was driven to the target position. Simulation results demonstrate the effectiveness and rapidity of the proposed control approach

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Last Update: 2018-02-06