针对复杂的非线性欠驱动三杆体操机器人系统,提出了一种基于部分反馈线性化的控制策略。首先,将三杆体操机器人的运动空间分为两个区域:摇起区和平衡区,然后,在摇起区利用部分反馈线性化设计摇起控制器,对第二杆与第三杆进行联动控制,确保欠驱动三杆体操机器人迅速摆起,并且摆起后第二杆和第三杆自然伸展;进入平衡区后,采用基于线性二次型调节器(LQR)的平衡控制器,将系统稳定在竖直向上的位置,实现系统控制目标。仿真结果验证了该控制策略的有效性。
This paper presents a control strategy based on partial feedback linearization for complex nonlinear underactuated three-link gynmastic robot systems. First, the motion space is divided into two areas: the swing-up area and the balance area. Then, partial feedback linearization is used to design the swing-up controller in the swing-up area to realize combined-control of the second link and the third link, so as to increase the energy of the system in the swing-up process and control the posture of the actuated links. In the balance area, the linear quadratic regulator (LQR) control is used for the balance controller. The simulation was performed and the results indicate that the proposed strategy is effective.