The invention relates to a control method and system of an under-actuated crane system, and the method comprises the steps: firstly, observing the crane system through a disturbance observer, and obtaining a system state and total disturbance; and then, utilizing a reinforcement learning controller to process the system state to obtain a virtual control law, calculating an actual control law according to the virtual control law and the total disturbance, and then utilize the actual control law to control the crane system, so that a reinforcement learning intelligent control mechanism can be integrated in the process of controlling the elimination of tracking errors, the problem of feedback error elimination of crane system tracking control is solved, and the control precision is improved.
本发明涉及一种欠驱动吊车系统的控制方法及控制系统,先利用扰动观测器对吊车系统进行观测,得到系统状态和总扰动。然后利用强化学习控制器对系统状态进行处理,得到虚拟控制律,并根据虚拟控制律和总扰动计算实际控制律,再利用实际控制律对吊车系统进行控制,能够在控制跟踪误差消除的过程中,融入强化学习智能控制机制,解决了吊车系统跟踪控制的反馈误差消除问题,提高了控制精度。
Control method and control system of under-actuated crane system
一种欠驱动吊车系统的控制方法及控制系统
2021-07-16
Patent
Electronic Resource
Chinese
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