Research On Switching Control Method For The Gymnastic Robot On Horizontal Bar

The gymnastic robot on a horizontal bar is a typical model of underactuated nonlinear systems. One feature of this kind of robot is its underactauted joint. Its regions of swinging up and standing upside down are large. Its motion behavior is highly nonlinear and complex. Underactuated manipulator is a kind of manipulator with one or more underactuated joint which is also called passive joint or free joint. The major character is that the dimension of input space is less than dimension of output space. All of these features make the control problem have a number of additional difficulties. But there are a lot of merits of this kind of instances to reduce weight, cost or energy consumption, while still maintaining an adequate degree of dexterity. Therefore, the study of this gymnastic robot has attracted great attention and has become one of the major topics recently.This thesis addresses the problem of position control for a gymnastic robot on a horizontal bar. The organization of this thesis is as follows.Firstly, this thesis introduces the acrobat's model and characters, and some related research status quo, presents the system model to be studied and the control goal of the acrobat. The Partial Feedback Linearization technique and its application to the Swing Up controller design are reviewed.Secondly, this thesis the Pole Assignment and the LQR in the balance controller design are analyzed. Attraction domains using both methods are provided by simulation experiments with the performance comparison between the two controllers. The switching control method is adopted to realize the control goal of the acrobat between the swing up controller and the balance controller. The simulation results are given. Besides, the methods are also applied to the three link gymnastic robot analysis with simulation results. Many simulation results are included in the thesis to show the efficiency of the proposed methods.At last, this thesis summarizes the main results, and points out the shortage and gives the prospects.