Dynamic servo control method of under drive mechanical device ACROBOT
A technology of servo control and mechanical devices, applied in the direction of electric controllers, etc., can solve the problem that the underactuated system cannot realize large-scale motion control, etc.
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[0026] Specific implementation mode one: this implementation mode consists of the following steps:
[0027] Step 1. Obtain the swing angle of the connecting rod from the underactuated mechanical system and swing angle The instant state quantity, calculate the swing angle error
[0028] Step 2, through the formula:
[0029] q · 1 ≈ Δ q 1 Δt = q 1 k - q 1 k - 1 Δt , q · 2 ≈ Δ q 2 Δt = q ...
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