点击次数：

发表时间：2022-10-10

发表刊物：Acta Automatica Sinica

卷号：46

期号：7

页面范围：1401-1410

ISSN号：0254-4156

关键字："Translational oscillator with rotating actuator (TORA); optimal control; coordinate transformation; nonlinear control; Hamilton-Jacobi- Bellman (HJB) equation"

CN号：11-2109/TP

摘要：A nonlinear optimal control scheme is proposed for the stabilization of TORA (Translational oscillator with rotating actuator) system based on $\theta - D$ Approximation in this article. The mathematical model of the nonlinear TORA system is derived through using the Lagrange equations. A novel coordinate transformation is adopted to make it available to isolate a constant matrix from the coefficient matrix $A\left( x \right)$, and make the constant matrix and the input location vector a controllable pair. The proposed nonlinear optimal control method does not require excessive online computations, as the explicit expression of control input can be derived in controller design phase. Numerical analysis demonstrate the effectiveness of the proposed method and its advantage in instant performance over the linear optimal control approach based on local linearization.

备注：新增回溯数据