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本文介绍了线性和非线性控制法则两种控制律设计方法在小型直升机上的应用,采用双时域衡量分析方法来分析直升机系统动力学特性。紧子系统和慢子系统分别用于分析直升机转动和平动动力学特性,紧子系统的稳定性是由李亚普诺夫方程保证,同时采用反馈线性化方法稳定控制内回路。此外,在给出线性控制律缺点的同时给出了改进后的非线性控制律,该控制律可以在无人直升机执行大角度、快速度飞行运动科目时更稳定可靠的控制直升机。 相似文献
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传统的无人飞行器(UAV)视觉编队控制律考虑约束的能力不足,制约了其工程实际应用。针对不足,基于预测控制方法设计了一种能够显式考虑约束的视觉编队控制律,该控制律通过滚动求解有限时域优化问题得到跟随飞行器(follower)的控制输入。利用相对距离变化率和视线方位角变化率预测值与实测值的偏差信息,提出了领航飞行器(leader)加速度的在线估计算法。仿真结果表明,所设计的编队控制律能够控制follower飞行器快速跟随leader飞行器形成期望的编队,所提出的leader飞行器加速度估计方法可行,具有较小的估计误差。 相似文献
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本文建立了IFWC系统的数学模型,设计了火/飞耦合控制律,讨论了变换武器(导弹和机炮)时的模态转换问题,同时设计了转换控制律(TCL).通过数字仿真验证了控制律的有效性. 相似文献
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空空导弹三维自适应模糊滑模制导律设计 总被引:1,自引:0,他引:1
提出了一种基于自适应模糊滑模控制的空空导弹三维制导律,解决了一般滑模控制中存在的抖振问题.该制导律在非线性系统的精确模型未知的情况下,通过模糊系统对非线性模型进行逼近,并根据Lyapunov方法设计了参数自适应律.仿真结果表明,该制导律与比例制导相比有较大的性能改善. 相似文献
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《Proceedings of the IEEE. Institute of Electrical and Electronics Engineers》1970,58(8):1295-1297
The matrix pseudoinverse is used to obtain a minimum-time control law for a general nth-order linear time-invariant completely state-controllable sampled-data system with r inputs. The control law is unique only in certain special cases. In the general case several time-optimal control sequences may exist; the particular control law obtained is shown to require minimum energy. 相似文献
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An adaptive control law and a distance rate observer were developed for the lateral control of autonomous vehicles. The control law and the observer were implemented on a passenger vehicle. The test results show that both tight lateral tracking control and smooth steering can be achieved without feed forward information. The developed control law is shown to be very robust to changes in the most critical vehicle control parameters 相似文献
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The Lyapunov second method is used to derive a control law that can he used to control the spacing between vehicles in a platoon. A third-order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of “expected spacing error” is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law 相似文献
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为了提高拦截器弹头的杀伤力,带攻击角度约束的导引律一直是学术界研究的热点。因此,制导律的设计既要保证较小的脱靶量又要保证以相应的攻击角度打击目标,目前已有很多的控制方法应用在拦截器制导设计中,包括最优制导律,滑模制导律,PN制导律,等等。我们知道滑模控制方法对外界扰动和参数不确定性有较好的鲁棒性,但是滑模控制的抖振缺陷普遍存在于传统的线性滑模和终端滑模中。因此,本文提出了一种新的无抖振终端滑模控制方法用于制导律的设计中,该方法不仅对外界有界扰动有较好的鲁棒性,还有效的消除了抖振的产生。最后数字仿真验证了该方法的有效性。 相似文献
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Blanca S. Leon Alma Y. Alanis Edgar N. Sanchez Fernando Ornelas-Tellez Eduardo Ruiz-Velazquez 《Analog Integrated Circuits and Signal Processing》2013,76(3):343-352
Inverse optimal trajectory tracking via a control Lyapunov function (CLF) for discrete time non-linear systems is developed and applied to type 1 diabetes mellitus patients control. The control law calculates the insulin delivery rate in order to prevent hyperglycemia and hypoglycemia levels. To synthesize the inverse optimal control law a quadratic candidate CLF is used. The proposed algorithm is tuned to follow a desired trajectory; this trajectory reproduces the glucose absorption of a healthy person. Simulation results applied for two different patients illustrate the applicability of the control law and a comparison with inverse optimal neural control via passivity is included. 相似文献
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《Industrial Electronics, IEEE Transactions on》2008,55(11):3972-3984
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针对非线性动态逆控制鲁棒性差的缺点,综合最优控制和神经网络控制,提出一种自适应非线性控制策略。首先采用非线性动态逆进行基本控制律设计,然后对由于建模误差或舵面故障等因素导致的动态逆误差,利用神经网络进行在线补偿,根据最优控制理论得到神经网络权值的自适应律,并基于Lyapunov直接法证明该自适应律的稳定性和收敛性。针对某飞机的仿真结果表明,在存在较大逆误差的情况下,所设计的控制系统具有良好的鲁棒性。 相似文献
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Nguyen T. Leavitt J. Jabbari F. Bobrow J.E. 《Mechatronics, IEEE/ASME Transactions on》2007,12(2):216-219
A control law is developed for an inexpensive pneumatic motion control system using four solenoid on/off valves and a position feedback sensor. A sliding-mode approach is used, which is well known for its tolerance for system uncertainties. In contrast to previous control laws, our approach does not use pulsewidth modulation. The control law has an energy-saving mode that saves electrical power, reduces chattering, and prolongs the valve's life. Our simulation and experimental results show that the proposed tracking control law performs very well with good tracking and relatively low steady-state position errors 相似文献