首页 | 官方网站   微博 | 高级检索  
     

基于状态估计的摩擦模糊建模与鲁棒自适应控制
引用本文:王永富,王殿辉,柴天佑.基于状态估计的摩擦模糊建模与鲁棒自适应控制[J].自动化学报,2011,37(2):245-252.
作者姓名:王永富  王殿辉  柴天佑
作者单位:1.东北大学机械工程与自动化学院 沈阳 110004
基金项目:国家自然科学基金(50875042,60821063,50875039); 沈阳市科技基金(F10-205-1-40)资助~~
摘    要:针对一类多自由度机械系统, 研究了基于状态估计的摩擦模糊建模与鲁棒自适应控制问题. 提出用模糊状态估计器估计摩擦模型中的不可测变量, 并用严格正实和李雅普诺夫稳定性理论证明了状态估计误差的一致最终有界性. 运用模糊状态估计结果设计了多变量鲁棒自适应控制器, 其中摩擦模糊模型中的自适应参数是基于李雅普诺夫稳定性理论设计的, 并证明了闭环系统跟踪误差的一致最终有界性. 本文对多自由度质量、弹簧和摩擦阻尼系统进行的仿真, 结果表明所提出的状态估计算法和自适应控制策略是有效的.

关 键 词:摩擦模型    状态估计    模糊建模    自适应    鲁棒控制
收稿时间:2010-5-18
修稿时间:2010-10-8

State Estimate-based Friction Fuzzy Modeling and Robust Adaptive Control
WANG Yong-Fu,WANG Dian-Hui,CHAI Tian-You.State Estimate-based Friction Fuzzy Modeling and Robust Adaptive Control[J].Acta Automatica Sinica,2011,37(2):245-252.
Authors:WANG Yong-Fu  WANG Dian-Hui  CHAI Tian-You
Affiliation:1.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, P.R. China;2.Key Laboratory of Integrated Automation of Process Industry, Ministry of Education, Northeastern University, Shenyang 110004, P.R. China;3.Department of Computer Science and Computer Engineering, La Trobe University, Melbourne Victoria 3086, Australia
Abstract:This paper develops a fuzzy state estimate-based robust adaptive control scheme for a class of mechanical systems with multiple degrees of freedom. The unmeasurable state variables used in both modeling friction force and adaptive controller design are estimated by a fuzzy estimator. By strictly positive real lemma and Lyapunov stability theory, the ultimately uniform boundedness of the state estimation errors is ensured. This paper also proposes a multivariable robust control algorithm using the estimated states and adaptive fuzzy friction mode, where the updating rule for parameter adjustment in the fuzzy friction model is derived by Lyapunov theory. It is shown that the tracking error of the closed-loop system is ultimately uniformly bounded (UUB). A mass-spring-damping system with multiple degrees of freedom is employed in the simulation studies. Simulation results demonstrate the effectiveness of our proposed state-estimate based fuzzy friction modeling and adaptive control strategy.
Keywords:Friction model  state estimate  fuzzy modeling  adaptive  robust control
本文献已被 CNKI 等数据库收录!
点击此处可从《自动化学报》浏览原始摘要信息
点击此处可从《自动化学报》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司    京ICP备09084417号-23

京公网安备 11010802026262号