Acrobot系统基于滑模的离散时间变结构控制

研究了将离散时间变结构控制应用于Acrobot系统的平衡控制器设计的问题.首先给出了Acrobot在垂直向上平衡点处的离散化数学模型.分析了离散指数趋近律存在抖振的机理,针对其不足给出了一种改进的趋近律,并将其应用于Acrobot系统的控制中,设计了离散时间变结构平衡控制器.仿真结果表明,改进的趋近律可有效地减小系统的抖振,并保证系统渐近稳定,实现了Acrobot系统基于滑模的离散时间变结构控制.

Discrete-Time Variable Structure Control Based on Sliding Mode for Acrobot System

Applies discrete-time variable structure control to the design of balance controller for Acrobot system.Develops a discrete-time mathematical model for Acrobot system at its upright equilibrium point to analyse the mechanism of chattering which occurs in compliance with the discrete-time exponential approximation law in a variable structure control systems.To improve the discrete-time exponential approximation law,a modified one is presented and applied to the design of discrete-time variable structure balance controller for Acrobot.Simulation results showed that the modified exponential approximation law will not only take the advantage of original one,but also reduce the chattering effectively,so as to keep the Acrobot system asymptotically stable,thus enabling the discrete-time variable structure control based on sliding mode for Acrobot system to come true.