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增强耦合的TORA系统镇定控制方法设计

DOI: 10.13195/j.kzyjc.2014.0631, PP. 1039-1043

Keywords: 欠驱动TORA系统,耗散性分析,Lyapunov,方法,LaSalle,不变性原理

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Abstract:

针对欠驱动TORA系统,设计一种镇定控制器和增强型耦合控制器.根据TORA系统的动力学模型,分析旋转小球与平移振荡器之间的耦合关系和系统的无源特性.构造一个新型的Lyapunov函数,并得到一种耦合镇定控制器.采用Lyapunov方法和LaSalle不变性原理证明了闭环系统的稳定性.最后,通过改进所设计的控制器得到一种增强型耦合控制器.仿真结果验证了所提出控制器的有效性和优越性.

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