基于反步控制的被动力伺服系统全状态反馈控制

针对被动力伺服系统的多余力矩问题,提出一种基于反步控制的全状态反馈控制方法,并利用Lyapunov函数的稳定性定理保证了设计控制器的稳定性.与以往解决加载多余力矩时不同,该控制器不仅使用加载系统各状态量,而且使用了承载系统的各状态量,在建立系统非线性模型的基础上,将系统方程重组成多个虚拟子系统,利用反步控制思想对每个虚拟系统设计虚拟控制量,进而一步步反向推导出含有加载系统和承载系统各个状态量的非线性控制器.因此,该控制器能够更加准确地抑制多余力矩,仿真结果也证明了该控制器的有效性.

Total State Feedback Control on Passive Force Control System Based on Backstepping Theory

Aiming at the extra torque of passive force control system, a total state feedback controller is proposed based on backstepping theory. And the stability of the controller is ensured by Lyapunov stability theory. The proposed method employs the parameters of loading system as well as the parameters of load bearing system to differ from the previous methods for dealing with extra torque. A nonlinear model of the system is established to construct the new virtual subsystems, then the backstepping theory is introduced to design the dummy controllers for each dummy subsystem, the nonlinear controller containing all states of loading system and load bearing system is transposed to restrain the extra torque step by step. The simulated results illustrate the effectiveness of the developed controller.