共查询到18条相似文献,搜索用时 171 毫秒
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基于块控原理的变结构控制 总被引:2,自引:0,他引:2
针对一类非匹配不确定性的线性系统 ,基于块控原理 ,提出了一种变结构控制设计方法 .利用反演设计方法来处理系统中的非匹配不确定性 ,再用变结构控制方法来改善系统的性能 .仿真实例证明了所提出的方法的正确性和有效性 相似文献
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采用滑模控制对非线性系统进行控制时,抖振是不可避免的现象,如何抑制抖振成为研究的重点。介绍了一种反演自适应滑模控制方案,它可以解决非线性系统中的不确定性问题,保证系统的鲁棒性。为此,首先介绍了反演设计的原理,通过在反演设计中引入滑模控制,并采用自适应算法对不确定性进行估计,有效的降低了抖振。最后给出了一个应用此方法进行控制的实际例子,结果表明了这种方法的有效性。 相似文献
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不确定非线性系统的多模反演滑模控制 总被引:2,自引:0,他引:2
对一般形式的仿射非匹配不确定非线性系统,研究了一种具有任意小跟踪误差的稳定控制器的新方法,结合反演(backstepping)设计和变结构控制,提出了反演变结构控制策略,对存在非匹配的不确定性和未知干扰的系统,设计的反演结构控制器实现了鲁棒输出跟踪,闭环系统在有限时间进入滑动模态,仿真算例证实了理论结果。 相似文献
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不确定非线性系统的自适应反演终端滑模控制 总被引:9,自引:1,他引:8
针对一类参数严格反馈型不确定非线性系统, 本文提出一种自适应反演终端滑模控制方法. 反演控制的前n-1步结合自适应律估计系统的未知参数, 第n步采用非奇异终端滑模, 使系统最后一个状态有限时间内收敛.利用微分估计器获得误差系统状态的导数, 并设计了高阶滑模控制律, 去除控制抖振, 使系统对于匹配和非匹配不确定性均具有鲁棒性. 同自适应反演线性滑模方法相比, 所提方法提高了系统的收敛速度和稳态跟踪精度, 并且控制信号更加平滑. 仿真结果验证了该方法的有效性. 相似文献
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一类非匹配不确定非线性系统的鲁棒跟踪控制制 总被引:3,自引:1,他引:2
针对一类半严格反馈型不确定非线性系统,提出一种鲁棒反演滑模变结构控制方法.采用反演控制方法设计了使前n-1阶子系统稳定的虚拟控制律,抑制非匹配不确定性的影响;在第n步设计了一种连续可导的滑模变结构控制律,消除控制抖振,实现了对存在未知不确定性及扰动系统的鲁棒输出跟踪.通过Lyapunov定理证明了闭环系统所有信号最终有界.仿真结果验证了该方法的有效性. 相似文献
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针对一类非匹配不确定性的线性系统,基于块控原理,提出了一种结合块控制、神经网络控制和backstepping控制技术的设计方法。利用反演设计方法来处理系统中的非匹配不确定性,利用神经网络来估计系统中的不确定性,再利用鲁棒控制方法来改善系统的性能,利用Lyapunov稳定性定理证明了系统的渐近稳定性。最后,给出的仿真实例证明了所提出的方法的正确性和有效性。 相似文献
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机械臂的动力学模型通常包含一定的结构不确定性,并受到外界未知干扰的影响。针对现有模型的不确定性特点,提出了一种基于非线性扰动观测器的自适应反演滑模控制方法,解决机械臂的轨迹跟踪控制问题。对于外界干扰,利用非线性扰动观测器进行观测补偿,无需上界先验知识;对于结构不确定性,引入反演滑模控制,同时设计自适应律,保证闭环系统的稳定性并增强系统的动态适应性。仿真结果证明,所提出的方法可以有效克服系统不确定性,降低控制输入信号的抖振,最终实现期望轨迹的快速精确跟踪。 相似文献
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在电液伺服系统优化设计的研究中,针对电液位置伺服系统的高阶非线性特性、系统参数不确定性以及系统状态信号测量困难的情况,提出一种基于滑模状态观测器的反演控制策略.策略采用滑模方法设计状态观测器,只需要位置传感器,不需要速度传感器和加速度传感器.对采用状态观测器之后的系统,设计反演控制器,针对系统中的不确定性,在反演控制的最后一步采用滑模控制设计,基于Lyapunov方法证明了系统中所有信号是一致最终有界的,闭环系统是稳定的.仿真结果表明,上述策略为电液伺服系统优化设计提供了参考. 相似文献
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Ramazan Coban 《International journal of systems science》2013,44(8):1517-1529
An adaptive backstepping tuning functions sliding mode controller is proposed for a class of strict-feedback nonlinear uncertain systems. In this control design, adaptive backstepping is used to deal with unknown or uncertain parameters and the matching condition restricting the Lyapunov based design. The main drawback of the Lyapunov based adaptive backstepping which is the overparametrisation is eliminated by the tuning functions. The adaptive backstepping tuning functions design is combined with the sliding mode control in order to overcome quickly varying parametric and unstructured uncertainties, and to obtain chattering free control. The proposed controller not only provides robustness property against uncertainty but also copes with the overparametrisation problem. Experimental results of the proposed controller are compared with those of the standard sliding mode controller. The proposed controller exhibits satisfactory transient performance, good estimates of the uncertain parameters, and less chattering. 相似文献
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Shuwen Pan 《Asian journal of control》2014,16(1):198-208
In this paper, a new adaptive sliding mode control is proposed to control nonlinear systems with parametric uncertainties and matched and unmatched external disturbances. The proposed method first combines immersion and invariance (I&I) adaptive scheme with sliding mode control (SMC), which preserves the advantages of the two methods. The proposed method is different from the approach of combining the backstepping adaptive scheme and sliding mode control in the parameter estimation law, which allows for prescribed dynamics to be assigned to the estimation error and is easier to tune. Finally, the method is applied to control a class of power systems, and simulation results show the advantages of the proposed method. 相似文献
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对于一类n阶非线性系统,提出一种自适应反演准滑模控制方法,控制的前n-1步采用自适应反演算法消除非匹配不确定性的影响,在最后一步,为改进跟踪效果,结合了可变边界层的思想,设计了准滑模控制方法,达到系统的n个状态快速收敛的目的.最终系统中不满足匹配条件的部分也具有较好的鲁棒性.与自适应反演线性滑模方法相比具有更好的跟踪性,理论分析证明了控制系统在削弱抖振的同时也能保证稳态精度,仿真实验证明了该方法的可行性. 相似文献
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In this paper, novel adaptive sliding mode dynamic controller with integrator in the loop is proposed for nonholonomic wheeled mobile robot (WMR). The modified kinematics controller is used to generate kinematics velocities of WMR which are subsequently used as the input to adaptive dynamic controller. Actuator dynamics are also derived to generate actuator voltage of WMR through torque and velocity vectors. Stability of both kinematics and dynamic controller is presented using Lyapunov stability analysis. The proposed scheme is verified and validated using computer simulations for tracking the desired trajectory of WMR. The performance of proposed scheme is compared with standard backstepping kinematics controller and classical sliding mode control. In addition, the performance is further compared with standard backstepping kinematics controller with adaptive sliding mode controller without integrator. It is shown that the proposed scheme exhibits zero steady state error, fast error convergence and robustness in the presence of continuous disturbances and uncertainties. 相似文献
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不确定非线性系统的自适应最终滑模控制──Backstepping方法(英) 总被引:1,自引:0,他引:1
对具有参数不确定与未知非线性的一类非线性系统,本文通过引入快慢两种切换线给出了一种自适应有限时间滑模控制机制.Backstepping方法被应用到设计中.此种控制机制保证了闭环系统的稳定性并使状态在有限时间内收敛到原点.仿真结果表明该控制机制的有效性. 相似文献
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Modeling and Robust Backstepping Sliding Mode Control with Adaptive RBFNN for a Novel Coaxial Eight-rotor UAV 下载免费PDF全文
Cheng Peng Yue Bai Xun Gong Qingjia Gao Changjun Zhao Yantao Tian 《IEEE/CAA Journal of Automatica Sinica》2015,2(1):56-64
This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller (BSMC) with adaptive radial basis function neural network (RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances. 相似文献