首页 | 本学科首页   官方微博 | 高级检索  
相似文献
 共查询到20条相似文献,搜索用时 171 毫秒
1.
A robust adaptive control scheme is proposed for a class of uncertain nonlinear systems in strict feedback form with both unknown control directions and non-symmetric dead-zone nonlinearity based on backstepping design.The conditions that the dead-zone slopes and the boundaries are equal and symmetric are removed by simplifying nonlinear dead-zone input model,the assumption that the priori knowledge of the control directions to be known is eliminated by utilizing Nussbaum-type gain technique and neural networks(NN) approximation capability.The possible controller singularity problem and the effect of dead-zone input nonlinearity are avoided perfectly by combining integral Lyapunov design with sliding mode control strategy.All the signals in the closed-loop system are guaranteed to be semi-globally uniformly ultimately bounded and the tracking error of the system is proven to be converged to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the proposed control scheme.  相似文献   

2.
In this paper, a robust output-feedback adaptive control is proposed for linear time-invariant (LTI) singleinput single-output (SISO) plants with unmeasurable input disturbance. Using dynamic surface control (DSC) technique, it is shown that the explosion of complexity problem in backstepping control can be eliminated. Furthermore, the proposed adaptive DSC scheme has the following merits: 1) by introducing an initialization technique, the L∞ performance of system tracking error can be guaranteed even if the plant high-frequency gain is unknown and the input disturbance exists, and 2) the adaptive law is necessary only at the first design step, which significantly reduces the design procedure. It is proved that with the proposed scheme, all the closed-loop signals are semiglobally uniformly ultimately bounded. Simulation results are presented to demonstrate the effectiveness of the proposed scheme.  相似文献   

3.
Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative (PID) methods, where the tuning of gains is difficult and time-consuming, and performance is not guaranteed. In this paper, we develop a rigorous method based on the sliding mode analysis and nonlinear backstepping to design a PID controller with guaranteed performance. This technique provides the structure and gains for the PID controller, such that a robust and fast response of the UAV (unmanned aerial vehicle) for trajectory tracking is achieved. First, the second-order sliding variable errors are used in a rigorous nonlinear backstepping design to obtain guaranteed performance for the nonlinear UAV dynamics. Then, using a small angle approximation and rigorous geometric manipulations, this nonlinear design is converted into a PID controller whose structure is naturally determined through the backstepping procedure. PID gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error dynamics. We prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer backstepping tracker loop by inverse kinematics, which provides a seamless connection with existing built-in UAV attitude controllers. We implement the proposed method on actual UAV, and experimental flight tests prove the validity of these algorithms. It is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique.  相似文献   

4.
The problem of transient stability for a single machine infinite bus system with turbine main steam valve control is addressed by means of a novel adaptive backstepping method in this paper. The recursive design procedure of the proposed controller is much simpler than that of the existing controller based on conventional adaptive backstepping method. In the system, the damping coefficient is measured inaccurately, and the reactance of transmission line also contains a few uncertainties. A nonlinear robust controller and parameter updating laws are obtained simultaneously. The system does not need to be linearized, and the closed-loop error system is guaranteed to be asymptotically stable. The design procedure and simulation results demonstrate the effectiveness of the proposed design.  相似文献   

5.
This paper aims at introducing H2 and H∞robustness into the well-known characteristic modelbased golden-section adaptive control law, and applying the robust adaptive control scheme to the attitude control of hypersonic cruise vehicles that are subject to external disturbances and aerodynamic coefficients uncertainties. When maneuvering at ultra high speeds, the attitude system of the hypersonic cruise vehicle is extremely sensitive to external disturbances and aerodynamic coefficients variations, and therefore the adaptiveness and the robustness of the attitude system are crucial during the controller design. To enhance the robustness of the existing golden-section adaptive control law, a golden-section robust adaptive control law is proposed. Compared to the existing control law where the design of the parameter λ depends on experience and is carried out offline, linear matrix inequality-based synthesis of λ is proposed such that the closed-loop system is stable with guaranteed H2 and H∞performance. It is suitable for online computing and provides a time-varyingλ(k) that is adjusted towards the optimal H2 and H∞performance. When being applied to the attitude control of hypersonic vehicles during re-entry, the adaptive nature of the proposed control law provides the attitude system the capability to accommodate large flight conditions, and its H2 and H∞robustness brought by λ(k)guarantees satisfying tracking performance in the presence of disturbances including both external disturbance and absolute aerodynamic coefficients errors.  相似文献   

6.
In this paper, the problem of output tracking for a class of uncertain nonlinear systems is considered. First, neural networks are employed to cope with uncertain nonlinear functions, based on which state estimation is constructed. Then, an output feedback control system is designed by using dynamic surface control (DSC). To guarantee the L-infinity tracking performance, an initialization technique is presented. The main feature of the scheme is that explosion of complex- ity problem in backstepping control is avoided, and there is no need to update the unknown parameters including control gains as well as neural networks weights, the adaptive law with one update parameter is necessary only at the first design step. It is proved that all signals of the closed-loop system are semiglobally uniformly ultimately bounded and the L-infinity performance of system tracking error can be guaranteed. Simulation results demonstrate the effectiveness of the proposed scheme.  相似文献   

7.
In this paper, the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated. A new nonlinear robust control strategy is proposed. First, a nonlinear complementary filter is developed to fuse the raw data from the onboard barometer and the accelerometer to decrease the negative effects from the noise associated with the low-cost onboard sensors Then the adaptive super-twisting methodology is combined with a backstepping method to formulate the nonlinear robust controller for the quadrotor''s attitude angles and the altitude position. Lyapunov based stability analysis shows that finite time convergence is ensured for the closed-loop operation of the quadrotor''s roll angle, pitch angle, row angle and the altitude position. Real-time flight experimental results, which are performed on a quadrotor flight testbed, are included to demonstrate the good control performance of the proposed control methodology.  相似文献   

8.
In this paper,an adaptive backstepping control scheme is proposed for attitude tracking of non-rigid spacecraft in the presence of input quantization,inertial uncertainty and external disturbance.TThe control signal for each actuator is quantized by sector-bounded quantizers,including the logarithmic quantizer and the hysteresis quantizer.By describing the impact of quantization in a new affine model and introducing a smooth function and a novel form of the control signal,the influence caused by input quantization and external disturbance is properly compensated for.Moreover,with the aid of the adaptive control technique,our approach can achieve attitude tracking without the explicit knowledge of inertial parameters.Unlike existing attitude control schemes for spacecraft,in this paper,the quantization parameters can be unknown,and the bounds of inertial parameters and disturbance are also not needed.In addition to proving the stability of the closed-loop system,the relationship between the control performance and design parameters is analyzed.Simulation results are presented to illustrate the effectiveness of the proposed scheme.  相似文献   

9.
A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach.  相似文献   

10.
The robust decentralized adaptive output-feedback stabilization for a class of interconnected systems with static and dynamic interconnections by using the MT-filters and backstepping design method is studied. By introducing a new filtered tramfomnation, the adaptive laws were derived for measurement. Under the assurnption of the nonlinear growth conditions imposed on the nonlinear interconnections and by constructing the error system and using a new proof method, the global stability of the closed-loop system was effectively analyzed, and the exponential convergence of all the signals except for parameter estimates were guaranteed.  相似文献   

11.
Controlling human-like robots with musculoskeletal structure has been a challenging problem in engineering. In biological studies, motor synergy hypothesis has been proposed as a solution in order to control high degree-of-freedom and complex human body. In this paper, we focus on exploring the applicability of motor synergies in generating goal-directed movements by optimal control in a human-like robotic arm. We focus on three problems: 1) Can motor synergies facilitate the solving of optimal control problem? 2) What properties should motor synergies have in order to achieve tasks? 3) How should motor synergies be utilized better? For the first problem we show that goal-directed movements can be achieved by utilizing motor synergies which have properties of achieving the goals. For the second problem, we testify motor synergies which have different properties and discover that energy efficiency is an important aspect in motor synergies which can also be utilized to achieve goal-directed movements. This discovery also implies that we can obtain motor synergies by other ways rather than from goal-directed optimal control signals. For the third problem, we show that the control complexity can be further reduced by utilizing a subset of motor synergies which are effective to achieve goals.  相似文献   

12.
Thanks to the progress in semiconductor technologies, today microcontrollers offer huge computational power. That allows using advanced control algorithms with a built-in intelligence with a sufficient speed, for many demanding applications. These capabilities make the embedded control ideal for using at complex plants and for obtaining the highest performance in a wide area of operations. However, control performance also strongly depends on the feedback. A short latency and a high precision of embedded analog peripherals allow building fast and accurate control loops. The paper proposes an easy design method of high performance analog to digital converter filtering path, optimized for control applications.  相似文献   

13.
Image processing is a type of memory-access-intensive application and is applied in many fields.Logic operations are very simple ones in image processing.During these operations,memory access takes a majority of the total time consumed,which puts a great pressure on memory access speed and bandwidth.However,in traditional von Neumann architecture,memory access is the inherent bottleneck of the system;that is,the speed of memory’s data supply is far lower than the data request of processor.Memristor is considered to be the fourth circuit element after resistor,capacitor and inductor.It has the capacity of both processing and memory,which supplies a new idea for solving the"memory wall"problem.In this paper,memristor is used to build an architecture combining computing and memory,where the memory has the ability to handle some simple image processing operations.This architecture can reduce readings and writings of memory effectively,which saves memory bandwidth thus improving the efficiency of the system.Logic operations of images are considered in this paper to validate the architecture.The experimental results and theoretical analysis indicate that the architecture can reduce memory access effectively.  相似文献   

14.
The transport control protocol (TCP) has been widely used in wired and wireless Intemet applications such as FTP, email and HTTP. Numerous congestion avoidance algorithms have been proposed to improve the performance of TCP in various scenarios, especially for high speed and wireless networks. Although different algorithms may achieve different performance improvements under different network conditions, designing a congestion algorithm that can perform well across a wide spectrum of network conditions remains a great challenge. Delay-based TCP has a potential to overcome above challenges. However, the unfairness problem of delay-based TCP with TCP Reno blocks widely the deployment of delay-based TCP over wide area networks. In this paper, we proposed a novel delay-based congestion control algorithm, named FAST-FIT, which could perform gracefully in both ultra high speed networks and wide area networks, as well as keep graceful faimess with widely deployed TCP Reno hosts. FAST-FIT uses queuing delay as a primary input for controlling TCP congestion window. Packet loss is used as a secondary signal to adaptively adjust parameters of primary control process. Theoretical analysis and experimental results show that the performance of the algorithm is significantly improved as compared to other state-of-the-art algorithms, while maintaining good faimess.  相似文献   

15.
The paper presents physical and mathematical models of kinetic system, drive system (electric and combustion traction motors), and also wheel and rails traction vehicle supply system (car, special vehicle, modern tram vehicle). Selected predictive and quasi dynamic control system algorithms of traction vehicle are presented in the paper. For selected constructions of traction vehicle drive system are presented in simulation models and are results of calculations of different exploitations work state of wheel vehicle with hybrid drive system. Results of computer calculations are verified with laboratory measurement and suitable corrections coefficient to simulations models of vehicles is introduced.  相似文献   

16.
As traffic congestion rises within large cities, intelligent traffic control is becoming increasingly important. In this filed, intelligent traffic light control has received much attention. Considering the distributed characteristic of traffic light, multi-agent system can simulate the traffic light control easily. Based on analyzing the traffic light pattern at junctions, an agent-based framework is proposed in this paper, which consists of two kinds of agents: system agent and junction agent. System agent is responsible for gathering the history information of different junction agents to preset the time for each traffic light pattern. While, junction agent controls the traffic light at a road junction by preset-observe-ponder-act cycle. The detailed procedure of pondering is also given. In the authors method, not only the history information but also the dynamic data and communication between agents are considered. People expect the proposed framework can provide a more balanced, coordinated and optimal method for the traffic light control.  相似文献   

17.
Graduation project management system is designed and developed on B/S mode with C# language. The main flow of the system is students' selecting projects. System is designed on teachers, students and administrators, students. Focus on the project application, the project audit, the select projects and the results generated summary ect. It enables instructors to assign projects and students to select them online quickly and conveniently, and instructors can track and manage the graduation design in the whole course through the system. This system provides a good interactive platform of graduation design for teachers and students, which improves the efficiency and quality of the project selection of graduation design.  相似文献   

18.
It is well known that a biped robot needs actuators to walk stably on level ground. Till now, a biped robot with torso has needed at least two actuators to achieve this. Would it be possible for this kind of robot to walk on level ground with only one actuator? This paper responds in the affirmative and proposes a simple control strategy for a planar biped robot with torso. In this control method, there is only one low gain proportional-derivative (PD) controller between the torso and the stance leg, while the swing leg remains totally free. The PD controller utilizes states of both the torso (angle and angular velocity) and the stance leg. The numerical simulations show that, by adopting this controller, a planar biped robot with torso can walk stably on level ground, and that the robot can walk with a wide range of speeds and high energy efficiency by changing the control parameters. Four period-one gaits, one of which is stable while the other three are unstable, are found by simulations. According to the literature surveyed, we are the first to have a torso only driven biped robot walk stably on level ground.  相似文献   

19.
The adaptive power control with multi-bit quantizer of CDMA (code division multiple access) systems for communications between multiple MSs (mobile stations) with a link-budget based SIR (signal-to-interference ratio) estimate is applied to four inner loop power control algorithms. The speed estimation performances of these algorithms with their consecutive TPC (transmit-power-control) ratios are compared to each inner loop power control algorithm, and the speed shows full linearity with the consecutive TPC ratio information of CS-CLPC (consecutive TPC ratio step-size closed loop power control), FSPC (fixed step-size power control), and KS-CLPC (Kalman gain step-size closed loop power control). These algorithms show more linearity with increased bit quantization. The result however, indicates consecutive TPC ratio of AS-CLPC (adaptive step-size closed loop power control) is independent of target speed. It is concluded that the speed can be estimated with the consecutive TPC ratio with CS-CLPC, FSPC and KS-CLPC.  相似文献   

20.
A great deal of previous research was based on the concept of Shannon theory without considering the delay characteristic. However, in reality, different services have different delay constraints. In this paper, two new network selection policies are proposed for heterogeneous wireless communication systems using effective capacity, which incorporate delay in the transmission rate. Users can access the proper network after considering the delay demands of different services. Our proposed policies aim to maximize the entire throughput with different delay constraints. Both the mathematicM analysis and simulations show that the proposed network selection policies can improve network throughput while providing quality-of-service guarantees.  相似文献   

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