有限时间控制问题综述

有限时间控制系统因具有良好的鲁棒性能和抗扰动性能而受到广泛关注.首先,回顾了有限时间控制方法的起源,并列举了有限时间控制系统的几种常用判据;然后,总结了有限时间控制系统的研究现状;最后,讨论了未来可能的研究方向.  

广义系统的渐近稳定性与镇定

利用Lyapunov方法研究广义系统的渐近稳定性及相关的镇定问题.得到了渐近 稳定的条件及镇定方法.  

A simplified approach to force control for electro-hydraulic systems

In this paper, a Lyapunov-based control algorithm is developed for force tracking control of an electro-hydraulic actuator. The developed controller relies on an accurate model of the system. To compensate for the parametric uncertainties, a Lyapunov-based parameter adaptation is applied. The adaptation uses a variable structure approach to account for asymmetries present in the system. The coupled control law and the adaptation scheme are applied to an experimental valve-controlled cylinder. Friction modeling and compensation are also discussed. The experimental results show that the nonlinear control algorithm, together with the adaptation scheme, gives a good performance for the specified tracking task. The original adaptive control law is then simplified in several stages with an examination of the output tracking at each stage of simplification. It is shown that the original algorithm can be significantly simplified without too significant a loss of performance. The simplest algorithm corresponds to an adaptive velocity feedback term coupled with a simple force error feedback.  

带有非线性不确定参数的线性系统的鲁棒稳定性和鲁棒镇定问题

研究带有非线性不确定参数的线性系统的鲁棒稳定性和鲁棒镇定问题。讨论一种有很强实际应用背景并允许带有二次不确定参数的模型，研究该系统的鲁棒稳定性和鲁棒镇定问题。以ＬＭＩ的形式给出了判据，并举例证明了该方法的优越性。  

存在时延和数据丢失的网络控制系统的控制器设计

研究了存在时延和数据丢失的网络控制系统的控制器设计问题．鉴于数据丢失现象和网络诱导时延的存在,将网络控制系统建成随机时延切换模型．利用李亚普诺夫方法,给出了使网络控制系统均方渐近稳定的新颖且与时延相关的条件．基于这个条件,理想的控制器可通过求解若干个线性矩阵不等式得到．利用一个数值例子证明了方法的有效性．  

非线性系统的鲁棒自适应模糊控制

针对反馈线性化后的不确定非线性对象,提出了一种鲁棒自适应控制方法.采用模糊 模型逼近不确定项,用逐步后推技术构造出自适应律,在线调节模糊模型的参数,同时处理存在 估计误差时的干扰抑制问题.该方法还用于感应电动机速度控制的仿真.用李亚普诺夫方法证 明了整个系统的稳定性和鲁棒性.该方法适用于任意有界时变干扰,通过模糊模型还可以加入 对干扰的经验知识.  

一类离散切换系统的渐近稳定性

利用多Lyapunov函数, 研究了一类由m个离散子系统构成的切换系统的渐近稳定性, 给出了该系统全局渐近稳定的两个充分条件. 仿真结果表明文中的结论是有效的.  

含一类未匹配不确定量的非线性系统鲁棒调节器设计

本文研究含一类未匹配不确定量的非线性状态调节问题，提出一种基于李亚普诺夫方法的鲁棒调节器设计方案。该调节器能保证状态一致有界，且经过有限时间后收敛于预先指定的任意小原点邻域。  

Adaptive terminal sliding mode control for rigid robotic manipulators

In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators. By applying this adaptive controller, prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances. Also, the proposed controller can eliminate the chattering effect without losing the robustness property. The stability of the control algorithm can be easily verified by using Lyapunov theory. The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.  

An extension of LaSalle's invariance principle for switched systems

In this paper we address invariance principles for a certain class of switched nonlinear systems. We provide an extension of LaSalle's invariance principle for these systems and state asymptotic stability criteria. We also present some related results on the compactness of the trajectories of these switched systems.