基于DFL 的地面运动基座轨迹跟踪控制

Abstract

Abstract:

为解决地面运动基座的轨迹跟踪控制问题, 基于其动力学模型, 利用动态反馈线性化技术实现了系统的完全状态反馈线性化。根据线性系统理论设计轨迹跟踪控制器, 并采取时变控制器增益的方法在满足控制力矩饱和约束的同时取得了良好的跟踪效果。Matlab 仿真结果显示, 采用该方法设计的轨迹跟踪控制器可使系统跟踪期望轨迹, 采取时变控制器增益的方法可使系统在跟踪过程中既满足了控制力矩饱和约束, 取得了良好的跟踪性能。与其他设计方法相比, 该方法能很好地将控制力矩饱和的情况考虑在内, 控制器设计简单且具有良好的稳定性。

Key words: 地面运动基座, 动力学模型, 动态反馈线性化, 轨迹跟踪

CLC Number:

TP273

XU Teng, CHEN Hong, GU Wanli. Trajectory Tracking Control of Ground Moving Basement Based on Dynamic Feedback Linearization[J].Journal of Jilin University(Information Science Ed, 2016, 34(1): 59-66.

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Trajectory Tracking Control of Ground Moving Basement Based on Dynamic Feedback Linearization

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