期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 50, 期 7, 页码 2534-2540出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2018.2820154
关键词
State feedback; Optimization; Angular velocity; Mechanical systems; Gravity; Transmission line matrix methods; Continuous state feedback control; first-order nonholonomic systems; intelligent optimization; planar underactuated systems
资金
- National Natural Science Foundation of China [61773353]
- Hubei Provincial Natural Science Foundation of China [2015CFA010]
- 111 Project [B17040]
This paper develops a quick and effective continuous state feedback control strategy based on intelligent optimization for a planar three-link passive-active-active (PAA) underactuated system with first-order nonholonomic characteristic. We analyze the integral characteristic of the system and find the passive link will be stabilized at different angle when the two active links of the system are controlled to different angles. Therefore, we design a set of continuous state feedback controllers based on the control targets of the two active links, and then we optimize the target angles of all links and the design parameters of the above controllers by employing intelligent optimization algorithm. In this way, the system can be stabilized at the target point by using these controllers with optimized parameters. Finally, the simulation results demonstrate that the continuous control strategy based on intelligent optimization may make the planar PAA underactuated system be stabilized at any target point from any initial point.
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