[1]孙宁,方勇纯.一类欠驱动系统的控制方法综述[J].智能系统学报,2011,6(3):200-207.
　SUN Ning,FANG Yongchun.A review for the control of a class of underactuated systems[J].CAAI Transactions on Intelligent Systems,2011,6(3):200-207.
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一类欠驱动系统的控制方法综述

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 6 期数: 2011年第3期 页码: 200-207 栏目: 综述 出版日期: 2011-06-25
Title:
A review for the control of a class of underactuated systems
文章编号:
1673-4785(2011)03-0200-08
作者:
孙宁，方勇纯
南开大学 机器人与信息自动化研究所，天津 300071
Author(s):
SUN Ning, FANG Yongchun
Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, China
关键词:
欠驱动系统; 机器人; 智能控制
Keywords:
underactuated systems;  robotics;  intelligent control
分类号:
TP273
文献标志码:
A
摘要:
近年来欠驱动系统已经成为机器人与自动控制领域的研究热点之一，本文对一类欠驱动系统（欠驱动连杆系统）的控制方法的研究状况进行了综述.首先给出了欠驱动系统的动力学模型，并介绍了2种基本控制模式；随后，对其主要的控制方法，包括最优控制方法、运动规划法、部分反馈线性化方法、能量（无源）方法、变量降维法、分级控制设计方法及智能控制方法，展开了分析与讨论；在此基础之上，对欠驱动连杆控制系统设计存在的抗干扰性、实用性及快速性等主要问题进行了简要分析，并就今后的研究方向进行了展望，如鲁棒策略、饱和控制与有限时间控制等.
Abstract:
Recently, research on underactuated systems has become a hot topic in the robotics and automation fields. The research status for the control of a class of underactuated systems (termed as underactuated link systems) was reviewed in this paper. Specifically, the system dynamics was presented first, and two basic control modes were introduced. Subsequently, the main control strategies, which include optimal control methods, motion planning methods, partial feedback linearization methods, energybased methods, state dimension reducing methods, hierarchical control design methods, and intelligent schemes, were analyzed. Finally, some major issues associated with the control system design for underactuated link systems， such as robustness, practicability, rapidness and so on, were sketched, and corresponding prospects including robust strategy, saturation control and finite time control etc. were proposed for future work.
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备注/Memo

收稿日期：2011-03-31.
基金项目：国家自然科学基金资助项目（60875055）；天津市应用基础及前沿技术研究计划重点项目（08JCZDJC21800）.
通信作者：方勇纯. E-mail: yfang@robot.nankai.edu.cn.
作者简介：
孙宁，男，1988年生，博士研究生，主要研究方向为欠驱动系统的自适应控制、学习控制、滑模控制以及模糊控制等.
方勇纯，男，1973年生，教授，博士生导师，IEEE高级会员，中国人工智能学会理事，中国自动化学会控制理论专业委员会委员、智能自动化专业委员会委员.主要研究方向为复杂系统非线性控制、机器人视觉控制等.发表学术论文近百篇，其中被SCI、EI检索80篇.

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