中文摘要：

提出了一种单斗链式旋臂物料提升机方案,研究了一种考虑物料惯性参数存在不确定情况下的提升机的非线性鲁棒位置控制方法.阐述了物料提升机的工作原理,采用第二类拉格朗日方程建立了物料提升机的动力学模型.假设控制力大小有界,基于一个给定的隐式李雅普诺夫函数设计了物料提升机的连续反馈位置控制器.控制器的增益是系统状态变量的可微函数,随着状态变量逐渐趋向于零,该增益逐渐趋向于无穷大,但是控制力始终满足给定的约束.基于牛顿迭代法与龙格库塔法数值求解了系统的动力学方程.计算结果表明：所设计的控制器抑制了惯性参数摄动的影响,实现了物料提升机点到点的精确位置控制,具有较好地鲁棒性.

英文摘要：

Accurate positioning control of a single-bucket-chain elevator with uncertain inertial param- eters was studied. Firstly, the working principle of the elevator was expounded and the dynamic mod- el of the elevator was built via the Lagrange of the second kind. Secondly, on the assumption that the control force was bounded in norm, a continuous feedback controller was designed by using a given implicit Lyapunov function. The controller＇s gains, which are differentiable functions of the system state variables, increase and tend to infinity as the state variables tend to zero, but the control force always satisfies the given constrain. Finally, the dynamic equation was solved using Newton＇s method and Runge-Kutta method. Simulation results demonstrate that the controller greatly compensates the effects of uncertain inertial parameters, fulfills the accurate point to point control of the elevator, and has good robustness.