论文部分内容阅读
针对输入受限影响下的空间机械臂的输出反馈全局渐进稳定控制问题,采用一类正切双曲线作为饱和函数,提出了一种新的输出反馈抗饱和非线性比例-积分-微分(PID)控制算法,该算法能够实现饱和非线性影响下的空间机械臂闭环全局渐进稳定控制.基于Lyapunov和LaSalle的不变集理论验证了闭环系统在平衡位置上的全局渐进稳定性,并确定保证全局渐进稳定的输入条件.通过两自由度平面机械臂仿真验证了该算法的有效性.
In order to solve the output feedback global asymptotic stability control problem of space manipulator with input constraint, a new type of tangent hyperbola is used as the saturation function. A new output feedback anti-saturation nonlinear proportional-integral-derivative (PID) control Algorithm which can realize the closed-loop asymptotic global stability control of space manipulator under the influence of saturation nonlinearity.The global asymptotic stability of the closed-loop system at the equilibrium position is verified by the invariant set theory of Lyapunov and LaSalle and the global asymptotic stability of the closed-loop system is guaranteed The input conditions are verified by the two-degree-of-freedom planar manipulator simulation.