论文标题
使用虚拟自动限制和脉冲控制的庞加利地图对不足系统的轨道稳定系统的轨道稳定
Orbital Stabilization of Underactuated Systems using Virtual Holonomic Constraints and Impulse Controlled Poincare Maps
论文作者
论文摘要
重新审视了一个被动的自由度（DOF）的机械系统轨道稳定的问题。使用连续控制器强制执行虚拟自动限制；这会在约束歧管上产生一组密集的封闭轨道。在歧管上选择了所需的轨道，并在轨道上的固定点构造了庞加利部分。相应的繁殖图围绕固定点进行线性性。这将导致离散的线性时间流域系统。为了稳定所需的轨道，当系统轨迹穿越庞康科（Poincare）部分时，将应用冲动输入。这些输入可以使用标准技术（例如LQR）设计。基于IMPULSE控制的Poincare Map（ICPM）控制设计的复杂性和计算成本低于前面提出的控制设计。使用2-DOF CART-PENDULUM和3-DOF TIPTOEBOT证明了ICPM方法的通用性。
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed orbits on a constraint manifold. A desired orbit is selected on the manifold and a Poincare section is constructed at a fixed point on the orbit. The corresponding Poincare map is linearized about the fixed point; this results in a discrete linear time-invariant system. To stabilize the desired orbit, impulsive inputs are applied when the system trajectory crosses the Poincare section; these inputs can be designed using standard techniques such as LQR. The Impulse Controlled Poincare Map (ICPM) based control design has lower complexity and computational cost than control designs proposed earlier. The generality of the ICPM approach is demonstrated using the 2-DOF cart-pendulum and the 3-DOF tiptoebot.
