iu khin thch nghi

M HNH NGC
1. H Euler Lagrange
Phng trnh h Euler Lagrange


:
l vector trng thi
l vector u vo iu khin
n(t) l nhiu






( ) ( , ) ( ) ( ) ( ) D q q C q q q g q M q u n t + + = +
1 2
( , ,..., )
T
n
q q q q =
u
1. H Euler Lagrange
Cc ma trn C, D phi tha mn
D l ma trn i xng, xc nh dng


(D gi l i xng lch)









( ) ( , ) ( , )
T
D q C q q C q q = +
1. H Euler Lagrange
Xt h ng hc c Mt tham s hng bt nh, khng
nhiu.
H phng trnh Euler Lagrange:



Vi l tham s hng bt nh

Bi ton t ra









( , ) ( , , ) ( , ) ( ) (1) D q q C q q q g q M q u u u u + + =
u
Xy dng b iu khin u n nh trng thi q
2. iu khin thch nghi m hnh ngc
Tham s hng bt nh trong (1) c thay th
bng bin trng thi p(t)



M hnh iu khin:







u
( , ) ( , , ) ( , ) ( ) D q p q C q q p q g q p M q u + + =
Ta cn hiu chnh p(t) n nh trng thi h
B K H E-L
setpoint
e
q
2. iu khin thch nghi m hnh ngc
t
S dng b iu khin xut pht t phng trnh:


Vi: - l hai ma trn i xng, xc nh dng
-








e q e =
u
1 2
( , ) ( ) ( , , ) ( , ) ( ) (2) D q p K e K e V q q p g q p M q u e + + + + =
1 2
, K K
( , , ) ( , , ) V q q p C q q p q =
2. iu khin thch nghi m hnh ngc
t



So snh phng trnh (1) v (2) ta c:

( , ); ( , )

( , , ); ( , , )
( , ); ( , )
D D q D D q p
V V q q V V q q p
g g q g g q p
u
u
u
= =
= =
= =
1 2
1 2

(w )

( ) ( ) ( ) ( ) (3)
Dq V G D K e K e V G
D D q V V G G D e K e K e
+ + = + + + +
+ + = + +
2. iu khin thch nghi m hnh ngc
p dng c phng php m hnh ngc nht
thit ta phi c:


Phng trnh (3) c dng:












( ) ( ) ( ) ( , , )( ) D D q V V g g F q q q p u + + =
1 2
1
1 2
1

( ) ( , , )( )
0 0

( )

A ( )
D e K e K e F q q q p
I e e
d
D F p
K K e e I dt
x x BD F p
u
u
u

+ + =
| | | | | | | |
= +
| | | |

\ . \ . \ . \ .
= +
2. iu khin thch nghi m hnh ngc
Vi:


Chn hm Lyapunov:


Vi P i xng, xc nh dng, T dng







1 2
0 0
, ,
I e
x B A
K K e I
| | | | | |
= = =
| | |

\ . \ . \ .
( ) ( ) ( )
T T
V x x Px p T p u u = +
2. iu khin thch nghi m hnh ngc
Ta c:


xc nh m ta chn:


Vi Q xc nh dng

1
2( )

(A ) 2( ) [ (BD F) P ]
T T T
T T T T
V x Px x Px p Tp
V x P PA x p x Tp
u
u

= +
= + +
V
(A )
T
P PA Q + =
1 1

(BD F) P
T
p T x

=
3. p dng cho robot palar 2 bc t do