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欠驱动系统Pendubot的参数认证及其控制设计 被引量:1

PARAMETER IDENTIFICATION AND CONTROL SCHEME OF AN UNDERACTUATED SYSTEM
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摘要 本文针对欠驱动Pendubot机器人系统提出一种简单可靠的摇起及平衡控制策略,并通过在线认证的方法实现对其参数的测量.分别利用部分反馈线性化及全状态反馈控制技术来设计摇起控制器及平衡控制器,并通过转换器实现两个控制器的转换.最后利用仿真及实际控制验证了算法的有效性.
出处 《机器人》 EI CSCD 北大核心 2003年第z1期707-710,共4页 Robot
基金 湖南省自然科学基金资助项目(01JJY2625).
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