Total State Feedback Control on Passive Force Control System Based on Backstepping Theory

张彪; 赵克定

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Total State Feedback Control on Passive Force Control System Based on Backstepping Theory

更新时间：2025-12-08

- Total State Feedback Control on Passive Force Control System Based on Backstepping Theory
- Vol. 42, Issue 1, Pages: 82-86(2008)
- 作者机构：
  
  哈尔滨工业大学机电工程学院,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP273
- Online First：10 January 2008，
  
  Published：2008
- 稿件说明：
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张彪, 赵克定. Total State Feedback Control on Passive Force Control System Based on Backstepping Theory[J]. 2008, 42(1): 82-86.
DOI：

张彪, 赵克定. Total State Feedback Control on Passive Force Control System Based on Backstepping Theory[J]. 2008, 42(1): 82-86. DOI：

摘要

针对被动力伺服系统的多余力矩问题

提出一种基于反步控制的全状态反馈控制方法

并利用Lyapunov 函数的稳定性定理保证了设计控制器的稳定性.与以往解决加载多余力矩时不同

该控制器不仅使用加载系统各状态量

而且使用了承载系统的各状态量

在建立系统非线性模型的基础上

将系统方程重组成多个虚拟子系统

利用反步控制思想对每个虚拟系统设计虚拟控制量

进而一步步反向推导出含有加载系统和承载系统各个状态量的非线性控制器.因此

该控制器能够更加准确地抑制多余力矩

仿真结果也证明了该控制器的有效性.

Abstract

Aiming at the extra torque of passive force control system

a total state feedback controller is proposed based on backstepping theory. And the stability of the controller is ensured by Lyapunov stability theory. The proposed method employs the parameters of loading system as well as the parameters of load bearing system to differ from the previous methods for dealing with extra torque. A nonlinear model of the system is established to construct the new virtual subsystems

then the backstepping theory is introduced to design the dummy controllers for each dummy subsystem

the nonlinear controller containing all states of loading system and load bearing system is transposed to restrain the extra torque step by step. The simulated results illustrate the effectiveness of the developed controller.

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references

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WANG Mingyan, GUO Ben, GUAN Yudong, et al. Design of electric dynamic load simulator based on recur-rent neural networks [J].IEEE Transactions on Control Systems Technology,2003,11(2):207-210.

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