共查询到18条相似文献,搜索用时 46 毫秒
1.
2.
3.
4.
一类非线性相似大系统的鲁棒变结构跟踪控制 总被引:3,自引:0,他引:3
利用分析法,几何方法并与变结构理论相结合,对于由结构相同的指数最小相位系统互联而成的非线性相似组合大系统,设计了一种变结构鲁棒控制器,给出了其输出跟踪问题可解的充分条件。 相似文献
5.
6.
7.
讨论一类含有时变不确定性的非线性不确定系统的鲁棒跟踪问题,其中的未知参数变量以非线性形式出现。通过构造适当的Lyapunov函数,给出了该类系统的鲁棒跟踪控制器的设计。 相似文献
8.
9.
10.
不确定非线性系统的鲁棒输出反馈自适应控制 总被引:2,自引:1,他引:2
针对一类具有一般不确定性的非线性系统,设计一种新的鲁棒输出反馈自适应控制器。在较弱条件下,该控制器不仅能保证闭环系统全局稳定,且能使跟踪误差以指数速度收敛到零的小领域内。仿真结果验证了所给控制方案的有效性。 相似文献
11.
Output tracking backstepping sliding mode control for feedforward uncertain systems is considered in this article. Feedforward systems are not usually transformable to the parametric semi-strict feedback form, and they may include unmatched uncertainties consisting of disturbances and unmodelled dynamics terms. The backstepping method presented in this article, even without uncertainties differs from that of Ríos-Bolívar and Zinober [Ríos-Bolívar, M. and Zinober, A.S.I. (1999), ‘Dynamical Adaptive Sliding Mode Control of Observable Minimum Phase Uncertain Nonlinear Systems’, in Variable Structure Systems: Variable Structure Systems, Sliding Mode and Nonlinear Control, eds., K.D. Young and Ü. Özgüner. Ozguner, London, Springer-Verlag, pp. 211–236; Ríos-Bolívar, M., and Zinober, A.S.I. (1997a), ‘Dynamical Adaptive Backstepping Control Design via Symbolic Computation’, in Proceedings of the 3rd European Control Conference, Brussels]. In this article, the backstepping is not a dynamical method as in Ríos-Bolívar and Zinober (1997a, 1999), since at each step, the control and map input remain intact, and the differentiations of the control are not used. Therefore, the method can be introduced as static backstepping. Two different controllers are designed based upon the backstepping approach with and without sliding mode. The dynamic and static backstepping methods are applied to a gravity-flow/pipeline system to compare two methods. 相似文献
12.
A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states, and outputs are satisfied although only output information is used. Finally, real‐world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach. 相似文献
13.
The paper describes a theoretical framework for the design of a robust multivariable output tracking controller using sliding mode concepts. The approach assumes that only measured outputs are available and uses a sliding mode observer to reconstruct estimates of the internal system states for use in a full information sliding mode control law. This scheme is applied to a control problem associated with high temperature furnaces. The paper describes the synthesis of the proposed control scheme from design through to implementation on an industrial test facility. © 1997 by John Wiley & Sons, Ltd. 相似文献
14.
This paper considers the problem of robust output tracking control for multi-input multi-output (MIMO) nonlinear systems in the presence of mismatched time-varying uncertainties. Using singular perturbation method and variable structure control technique, we derive a new hybrid controller for MIMO systems with unknown time-varying uncertainties and disturbances to track a desired trajectory. It is shown that the hybrid controller not only stabilizes the closed-loop systems, but also guarantees the tracking errors remain in an O() neighbourhood of the origin where is a small design parameter of the controller. Moreover, by selecting the parameter properly, the tracking errors can be made arbitrarily small. 相似文献
15.
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
16.
This paper presents the derivation of robust trajectory‐tracking nonlinear control laws for general three‐dimensional vehicle models with one degree of underactuation where all of the state tracking errors are stabilized. The method is based on a novel transformation of the trajectory tracking problem into a reduced‐order error dynamics. Two traditional nonlinear controllers based on sliding mode and backstepping approaches are developed and shown to stabilize the trajectory tracking errors in presence of modeling uncertainties and bounded disturbances. The performance of the two controllers are compared in absence and presence of disturbances. 相似文献
17.
18.
针对不确定离散时间系统,提出一种基于离散复合非线性反馈的积分滑模(DCNF-ISM)控制策略,并将该算法应用于扰动下的磁盘跟踪问题.该算法由离散复合非线性反馈(DCNF)控制律与积分滑模(ISM)控制律两部分组成,其中DCNF控制律用于保证系统具有较好瞬态性能,基于改进的离散趋近律设计的ISM控制律用于保证系统鲁棒性.基于Lyapunov稳定性理论对本文提出的控制策略的稳定性进行了推导证明,证明了离散时间系统的一致最终有界性.仿真结果表明,本文提出的控制策略能保证系统在扰动下仍然能够精确跟踪给定的参考信号,与传统的DCNF控制相比,该算法能够保证系统具有响应速度快超调量小、鲁棒性强等优点. 相似文献