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本文研究了不对称欠驱动水面机器人事件触发全局渐近镇定控制问题.首先,引入坐标变换将系统全局渐近镇定控制问题转化为变换后模型欠驱动子系统的全局渐近镇定控制问题,利用周期时间函数构造时变辅助变量提出了一种时变连续的镇定控制律,并结合切换门限事件触发机制设计实际的事件触发推力与力矩控制输入使闭环系统全局渐近稳定.所提出的方法仅在系统满足触发条件时对控制器进行更新,能够节约系统资源以及减少执行器操纵次数,同时不会降低原有的控制品质.最后,通过仿真验证了所提出方法的有效性. 相似文献
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为了实现欠驱动水面机器人的全局渐近镇定,首先借助微分同胚变换,将欠驱动水面机器人的镇定问题转化成对由两个串级子系统构成的二阶欠驱动系统的镇定问题.针对转换后的系统,本文提出一种光滑的变周期控制方法,以实现对该系统的全局渐近镇定.与已有文献中控制律使用常数周期的方法相比,本文方法根据系统状态实时调整控制律周期,从而提高系统在原点附近的收敛速率.随后,基于上述方法,给出了水面机器人变周期控制算法,实现原系统的全局渐近镇定.最后,仿真对比结果验证所提变周期控制方法的有效性. 相似文献
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针对移动机器人的运动学模型,提出一种具有全局渐近稳定性的跟踪控制器。该跟踪控制器的设计分为两部分:第一部分是采用全局快速终端滑动模态的思想设计了角速度的控制律,用来渐近镇定移动机器人跟踪的前向角误差;第二部分是采用Lyapunov方法设计了线速度的控制律,用来渐近镇定移动机器人跟踪的平面坐标误差。采用Lyapunov稳定性定理,证明了移动机器人在满足这些控制律条件下,实现了对参考轨迹的全局渐近跟踪。实验结果表明移动机器人能够有效地跟踪期望轨迹,有利于在实际应用中推广。 相似文献
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非完整链式系统的时变光滑指数镇定 总被引:14,自引:1,他引:14
针对非完整链式系统,导出了一种时变光滑反馈控制律,该控制律可以保证系统状态
全局指数收敛到原点,克服了以往控制律非光滑或虽光滑但却只能渐近镇定系统的缺陷.所得
控制律应用于移动机器人系统的镇定. 相似文献
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一般非线性控制系统的局部反馈渐近镇定 总被引:4,自引:2,他引:4
运用微分几何方法讨论了存在相对阶的一般非线性控制系统的局部反馈渐近镇定问题。在给出这类系统基于相对阶的标准形之后,如果其零动态渐近稳定,则可找到控制律局部镇定该系统。所得结果适用于一般非线性控制系统局部反馈渐近镇定的临界问题。 相似文献
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大型离散控制系统的分散镇定 总被引:1,自引:0,他引:1
本文应用现代控制论中的二次线性调节方法和M-矩阵的性质,结合Lyapunov稳定性,研究了大型离散控制系统的分散镇定——一致渐近镇定、具有给定稳定度的指数镇定,给出了系统镇定的一些充分条件。 相似文献
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Stability, robust stabilization and control of singular-impulsive systems via switching control 总被引:2,自引:0,他引:2
In this paper, stability, robust stabilization and H∞ control of singular-impulsive systems are studied. Some new fundamental properties are derived for switched singular systems subject to impulse effects. Applying the Lyapunov function theory, several sufficient conditions are established for exponential stability, robust stabilization and H∞ control of the corresponding singular-impulsive closed-loop systems. Some numerical examples are given to demonstrate the effectiveness of the proposed control and stabilization methods. 相似文献
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Bing Chen Xiao-Ping Liu Shao-Cheng Tong Chong Lin 《Fuzzy Systems, IEEE Transactions on》2008,16(3):652-663
This paper discusses the stabilization of Takagi-Sugeno (T-S) fuzzy systems with bounded and time-varying input delay. The robust stabilization via state feedback is first addressed, and delay-dependent stabilization conditions are proposed in terms of LMIs. Observer-based feedback stabilization is also discussed for T-S fuzzy input delay systems without uncertainties. A separate design principle is developed. Some illustrative examples are given to show the effectiveness and the feasibility of the proposed methods. 相似文献
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随着硅集成电路制造工艺和设计工具的快速发展,硅霍尔传感器性能得到大幅度提高,特别是近年来采用了“斩波”动态失调消除、微功耗、可编程等一系列新技术,使产品的稳定性、工作温度范围、磁场灵敏度等方面得到显著改进。本文介绍了BiCMOS霍尔传感器产品采用的最新设计制造技术及其基本原理。 相似文献
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This communication is concerned with the problem of stabilization, via output static feedback, of linear time-invariant finite-dimensional systems. A new output static stabilization concept is introduced: output static stabilization in the relaxed sense. This conservative stabilization concept is the result of imposing an additional condition to a set of necessary and sufficient conditions for output static stabilization. This paper is devoted to exhaustively study the introduced new stabilization concept: (I) It is shown that for a particular class of plants, the stabilization problem in the above sense can be cast as a convex programming problem. (II) A full characterization of the class of plants that are stabilizable in the above new sense is presented. Some of the important consequences of that study are as follows: (1) The identification of a class of plants stabilizable, via output static feedback, for which stabilizing feedback matrices can be (almost) expressed in analytic closed form. (2) It is shown that the introduced new conservative stabilization concept is much more significant that it appears; the general problem of output static stabilization can be transformed into the stabilization problem in this new conservative sense. (3) A relationship between output static stabilizability and the LQR problem is proved. (4) A novel generalization of the famous Lyapunov's theorem is presented. Convex necessary and sufficient conditions, for joint stabilization (of multiple plants) in the above sense and, for decentralized stabilization in the above sense, are also presented. Numerical examples illustrate some of the results. 相似文献
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In this paper the Routh stability criterion [16] has been developed into control Routh array. Some formulas for calculating the array are provided. Certain properties are investigated. Using it, the problem of stabilization of bilinear systems via constant controls is solved. Then by converting the problems, the method of control Routh array is also used to solve some other stability related problems, such as the stabilization of control systems, the stability of uncertain Hurwitz matrix and the stability of interval matrices. Several algorithms have been developed to provide numerical solutions. 相似文献
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Some sufficient conditions concerning stability of solutions of stochastic differential evolution equations with general decay rate are first proved. Then, these results are interpreted as suitable stabilization ones for deterministic and stochastic systems. Also, they permit us to construct appropriate linear stabilizers in some particular situations. 相似文献
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线性系统静态输出反馈镇定的LMI方法 总被引:7,自引:1,他引:6
利用无约束条件的线性矩阵不等式(LMI)研究了W-问题和P-问题,而后者的解可用来设计静态输出反馈(SOF)镇定控制,作为一个应用考虑了不确定系统的静态输出反馈问题,给出了依赖于LMI条件的SOF设计方法。 相似文献
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Robust decentralized stabilization for a class of large-scale time-delay uncertain impulsive dynamical systems 总被引:3,自引:0,他引:3
The problem of robust decentralized stabilization for a class of large-scale, time delay, and uncertain impulsive dynamical systems is introduced and studied. Some explicit criteria of robust exponential stabilization in the large for such systems are established. A simple approach to designing a robust decentralized controller is presented. A numerical example is given for illustrating and interpreting the theoretical results. 相似文献