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101.
The conditions for state feedback linearization suggested in the aforementioned article are shown, by means of counterexamples, not to be sufficient. In view of this, modified results are proposed for ensuring the sufficiency. 相似文献
102.
《Automatica》2014,50(11):2737-2764
Adaptive control is a control methodology capable of dealing with uncertain systems to ensure desired control performance. This paper provides an overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input–multi-output systems, literature reviews on adaptive control foundations and multivariable adaptive control methods, and related technical problems. It covers some basic concepts and issues such as certainty equivalence, stability, tracking, robustness, and parameter convergence. It discusses some of the most important topics of adaptive control: plant uncertainty parametrization, stable controller adaptation, and design conditions for different adaptive control schemes. The paper also presents a detailed study of well-developed multivariable model reference adaptive control theory and design techniques. It provides an introduction to multivariable adaptive pole placement and adaptive nonlinear control, and it concludes by identifying some open research problems. 相似文献
103.
Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph. 相似文献
104.
This paper presents a dynamic compensation concept to grapple with the dynamic defects of a traditional robot arm, especially while performing high-speed endpoint regulations. The proposed high-speed dynamic compensation concept offers a new point of view for cooperating with a traditional manipulator to realize highly dexterous performance of manipulations. The concept is realized through adoption of a high-speed light-weight actuator as well as endpoint closed loop configured high-speed cameras. The dynamic compensation is analyzed experimentally with 1000 Hz visual feedback and a high-speed finger for a robot arm in the case of one degree of freedom. The advantage of the proposed approach is that the modeling for the robot system’s dynamics is not needed, whereas it is necessary and trivial in order to realize high-speed regulations by traditional approaches. Thus, the control issue becomes easier with the proposed approach. As an application for this concept, fast peg-and-hole alignment with large position and attitude uncertainty is studied. The alignment algorithm is based on a visual compliance strategy. Alignment experiments show that with the proposed concept of dynamic compensation as well as visual compliant motion control, robust and fast convergence was realized for most cases. 相似文献
105.
《Journal of Process Control》2014,24(9):1402-1411
This paper presents a new method to calculate the feedback control gain for a class of multivariable bilinear system, and also applied this method on the control of two sections of paper-making process with disturbance. The robust H∞ control problem is to design a state feedback controller such that the robust stability and a prescribed H∞ performance of the resulting closed-loop system are ensured. The controller turns out to be robust with respect to the disturbance in the plant. Utilizing the Schur complement and some variable transformations, the stability conditions of the multivariable bilinear systems are formulated in terms of Lyapunov function via the form of linear matrix inequality (LMI). The gain of controller will be calculated via LMI. Finally, the application examples of a headbox section and a dryer section of paper-making process are used to illustrate the applicability of the proposed method. 相似文献
106.
107.
不确定非线性系统的反馈控制一直是控制科学的中心问题之一,迄今已经取得很大进展。然而,目前现有大部分工作所研究的反馈控制规律,或是连续时间形式的,或是采样反馈形式但需要采样频率充分快,或是离散时间反馈形式,但需要被控离散时间系统的非线性函数增长速度不超过线性。要消除或减弱这些约束条件,一般来讲是相当困难的。这就促使我们探究反馈机制的最大能力和根本局限。尽管近年来在这个方向有许多重要进展,但仍有许多非平凡的重要问题有待研究。例如,在反馈通道中有时滞情形,或者系统状态是高维的情形。在本文中,我们将探索两类比较特殊的离散时间不确定非线性动力系统的控制问题,给出关于全局自适应反馈镇定的某些初步结果。 相似文献
108.
设计了一款PWM控制模式降压式(buck)直流一直流转换器芯片。该芯片为电压反馈控制模式,内部补偿使得反馈控制有很好的线性和很快的负载响应而无需通过外部设计。芯片采用CMSC0.5μm BCD工艺实现。PSPICE仿真结果表明,输出电压只有大约50mY的纹波,静态电流为3mA左右。输出电压在低于0.5V时,芯片具有短路降频功能,工作频率由81KHz降到23KHz左右,输出负载由0.2A跳变到2A时具有很好的负载调整率,大约为0.2%,转换效率可以达到85%以上。 相似文献
109.
对于电磁吸浮型磁浮列车,悬浮控制是其关键部分,由于该系统的非线性和不稳定性,需要通过主动控制使其稳定悬浮。建立了磁悬浮列车悬浮系统模型,针对模型的非线性问题,采用精确反馈线性化将悬浮系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。用MATLAB的Simulink对具有扰动的非线性模型进行仿真,仿真结果表明控制效果没有静差和超调,调节时间快。 相似文献
110.
Xiaoxiang Hu Changhua Hu Zhaoqiang Wang Huijun Gao 《International journal of systems science》2014,45(8):1740-1756
By utilising Takagi–Sugeno (T–S) fuzzy set approach, this paper addresses the robust H∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics’ enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T–S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T–S fuzzy dynamic output feedback control method is demonstrated by numerical simulations. 相似文献