用滑模控制与子空间稳定法实现欠驱动系统的周期轨道稳定
Sliding Mode Control and Subspace Stabilization Methodology for the Orbital Stabilization of Periodic Trajectories
- 通过部分反馈线性化与横向线性化构建周期时变系统
- 滑模控制将轨迹引导至稳定子空间，避免求解复杂LQR问题
- 适合需鲁棒控制的欠驱动机械系统，如机器人轨道控制
本文提出一种结合滑模控制与子空间稳定性的方法，用于解决单自由度欠驱动机械系统中周期轨迹的轨道稳定问题。首先进行部分反馈线性化与稳定性设计，随后沿参考轨道计算横向线性化，得到具有稳定子空间的周期时变线性系统。滑模控制将系统轨迹驱动至该子空间，从而实现稳定。该方法无需求解计算量大的周期LQR问题，且对匹配干扰具有更强鲁棒性。在Butterfly机器人上进行了实验验证。
原文摘要 · Abstract (English)
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with partial feedback linearization and stabilization. Then, transverse linearization along the reference orbit is computed, resulting in a periodic linear time-varying system with a stable subspace. Sliding-mode control drives trajectories toward this subspace. The proposed design avoids solving computationally intensive periodic LQR problems and improves robustness to matched disturbances. The methodology is validated through experiments on the Butterfly robot.
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