Stochastic Control Of Mass Spring Damping System Control Of Mass Spring Damping System:Full Drive And Under Actuated

In this thesis,for the full drive and underactivity of the mass-spring-damping system.the control problems in random vibration environment is considered.For full drive situations,according to the principle of Lagrange mechanics,the deterministic dynamic model is established.The random vibration of the environment is transformed to the equivalent random disturbance according to the dynamic-static method and the relative motion principle,thus the stochastic Lagrange equation of the system is obtained.The second order Lagrange equation is transformed into a first-order system in the quasi lower triangle structure,then the controller is designed by using the vector form of backstepping technique,such that all signals of the closed-loop system are bounded in probability.For underactuated situations,a stochastic model was established using a method similar to the case of full drive simulation,design the controller in a general form of backstepping method,and all signals of the closed-loop system are bounded in probability.Finally,experiments are carried out by matlab.The simulation results show the effectiveness of the control strategy.