非线性递推控制TORA系统

doi:10.3969/j.issn.0372-2112.2013.11.022

电子学报 ›› 2013, Vol. 41 ›› Issue (11): 2252-2255.DOI: 10.3969/j.issn.0372-2112.2013.11.022

非线性递推控制TORA系统

郭卫平, 刘殿通, 李帅

烟台大学计算机学院, 山东烟台 264005

收稿日期:2012-12-10 修回日期:2013-05-20 出版日期:2013-11-25
- 通讯作者:
- 刘殿通
- 作者简介:
- 郭卫平 女，1971年生于山东潍坊.烟台大学计算机学院讲师.研究方向为非线性系统控制、欠驱动系统控制、混沌控制等. E-mail：weiping.guo@163.com
- 基金资助:
- 国家自然科学基金 (No.61175086，No.61203320）; 山东省高等学校科技计划项目 (No.J13LN25）

Nonlinear Recursive Control TORA System

GUO Wei-ping, LIU Dian-tong, LI Shuai

Institute of Computer Science and Technology, Yantai University, Yantai, Shandong 264005, China

Received:2012-12-10 Revised:2013-05-20 Online:2013-11-25 Published:2013-11-25
- Supported by:
- National Natural Science Foundation of China (No.61175086, No.61203320); Science and Technology Project of Higher Education Institutions in Shandong Province (No.J13LN25)

摘要/Abstract

摘要： 针对欠驱动系统TORA，通过部分反馈线性化和全局坐标变换，得到系统的非线性反馈级联模型.为TORA系统提出了一种两步递推反步设计方法，得到系统的非线性控制器.设计过程中利用李雅普诺夫稳定理论保证了系统的稳定性.仿真结果表明系统在任何初始状态下均能渐进稳定于其原点.

关键词: 欠驱动系统, TORA, 反步, 非线性控制, 递推

Abstract: The TORA system model is transformed to a feedback cascade model with the partial feedback linearization and a global coordinate change.A two-steps recursive backstepping algorithm is proposed for the TORA system to obtain a nonlinear controller.During the design process,the system stability is guaranteed with the Lyapunov theory.The simulation results show the TORA system under any initial states is globally asymptotically stable to its origin.

Key words: underactuated system, TORA, backstepping, nonlinear control, recursive

中图分类号:

TP273

郭卫平, 刘殿通, 李帅. 非线性递推控制TORA系统[J]. 电子学报, 2013, 41(11): 2252-2255.

GUO Wei-ping, LIU Dian-tong, LI Shuai . Nonlinear Recursive Control TORA System[J]. Acta Electronica Sinica, 2013, 41(11): 2252-2255.

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非线性递推控制TORA系统

Nonlinear Recursive Control TORA System

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