东南大学学报（自然科学版）2011，Vol.41Issue(2)：321-325,5.DOI:10.3969/j.issn.1001-0505.2011.02.021
欠驱动2DTORA基于部分反馈线性化的非线性控制设计
Nonlinear control design of underactuated 2DTORA based on partial feedback linearization
摘要
Abstract
The 2-dimensional translational oscillators with rotating actuator (2DTORA) is a noval underactuated system composed of one actuated rotor and two unactuated translational carts. The mathematical model of 2DTORA is analyzed and a stabilization control method is presented. The analysis of the system's dynamics shows that the system is uncontrollable when desired angular position of the rotor are set to the angles aligned to the two translational directions of the carts. By using partial feedback linearization technique, the active degree corresponding to the configuration freedoms of 2DTORA is linearized, while the passive degrees are taken as the internal dynamics of the system. A state feedback controller of the linearized subsystem was designed by choosing the active rotor angle as the system output. It is proved that the stability of the whole controlled system is guaranteed by the stability of the zero dynamics. Finally, simulation results demonstrate the feasibility of the presented controller.关键词
2DTORA/欠驱动系统/非线性控制/零动态/部分反馈线性化Key words
2-dimensional translational oscillators with rotating actuator/underactuated system/non linear control/ zero dynamics/ partial feedback linearization分类
信息技术与安全科学引用本文复制引用
高丙团,黄学良..欠驱动2DTORA基于部分反馈线性化的非线性控制设计[J].东南大学学报（自然科学版）,2011,41(2):321-325,5.基金项目
东南大学基本科研业务资助项目(3216000502).教育部博士点基金资助项目(20100092120045). （3216000502）
