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机器人LFT变增益∞控制 总被引:1,自引:0,他引:1
针对平面两关节直接驱动机器人, 基于LMI技术提出一种设计能保证在整个运动范围内始终具有很好动态性能的LFT变增益H∞ 控制器的新方法. 将机器人系统转化为以两关节夹角余弦值为变参数的LPV模型并表示为关于变参数的LFT结构, 利用变参数的测量值设计具有相同LFT结构的LPVH∞ 控制器, 将此控制器的设计等价为以变参数为不确定项的LTI鲁棒控制器的设计并给出控制器可解的LMIs条件, 然后归纳出获得控制器的求解方法. 此控制器既克服了传统变增益控制器的缺陷, 相似文献
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In this note, a simple linear matrix inequality (LMI) design method is proposed for iterative learning control (ILC). The design can ensure a monotonic error decay in 2‐norm. Experimental results on a SCARA robot shows that the design can achieve nearly perfect tracking. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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Current gain scheduling practice is necessarily limited to slow variation in scheduling variables. This paper proposes a control law which reflects the exogenous signal and its time-derivative with assumption of its availability. The proposed controller achieves better performance than the existents for tracking fast scheduling variables while rejecting exogenous signal. 相似文献
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基于LMI的多模型鲁棒预测控制 总被引:4,自引:2,他引:4
用线性矩阵不等式 (LMI)方法研究多模型鲁棒预测控制, 提出了状态反馈的综合方法, 并分析了闭环系统的可行性, 同时证明闭环系统渐近稳定. 在此基础上, 研究了带终端零状态的有限优化时域预测控制和无穷优化时域预测控制的性能, 证明了两者在性能上的一致性. 相似文献
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间歇精馏过程的模糊逻辑与增益自调整PID混合控制 总被引:1,自引:0,他引:1
针对间歇精馏过程的强非线性和非平稳时变特性,结合模糊逻辑控制和增益自调整PID控制的优点,提出了一种模糊逻辑和增益自调整PID混合控制的先进控制策略,详细推导了其控制算法,设计了相应的控制器,并在EuroBEEB工控机上用实时BASIC语言编程实现,对一套甲醇/水二元间歇精馏塔的塔顶浓度进行了推断控制实验,获得了比单独采用模糊逻辑控制时更好的控制结果。这说明,模糊逻辑和增益自调整PID混合控制是强非线性和非平稳时变过程的一种有效控制策略。 相似文献
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This paper considers the problem of guaranteed cost control for uncertain neutral delay systems with a quadratic cost function. The system under consideration is subject to norm‐bounded time‐varying parametric uncertainty appearing in all the matrices of the state‐space model. The problem we address is the design of a state feedback controller such that the closed‐loop system is not only stable but also guarantees an adequate level of performance for all admissible uncertainties. A sufficient condition for the existence of guaranteed cost controllers is given in terms of a linear matrix inequality (LMI). When this condition is feasible, the desired state feedback controller gain matrices can be obtained via convex optimization. An illustrative example is provided to demonstrate the effectiveness of the proposed approach. Copyright © 2002 John Wiley & Sons, Ltd. 相似文献
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Proportional‐integral‐derivative (PID) structured controller is the most popular class of industrial control but still could not be appropriately exploited in gain‐scheduling control systems. To gain the practicability and tractability of gain‐scheduling control systems, this paper addresses the gain‐scheduling PID control. The design of such a controller is based on parameterized bilinear matrix inequalities, which are then solved via a bilinear matrix inequality optimization problem of nonconvex optimization. Several computational procedures are developed for its computation. The merit of the developed algorithms is shown through the benchmark examples. 相似文献
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Yoshiro Hamada Takashi OhtaniTakashi Kida Tomoyuki Nagashio 《Control Engineering Practice》2011,19(6):611-625
This paper illustrates a design procedure for a linearly interpolated gain scheduling controller for Engineering Test Satellite VIII (ETS-VIII) using its linear parameter-varying (LPV) model. The LPV model here consists of piecewise-linear functions of the paddle rotation angle and a norm-bounded perturbation. The main purpose of this research is to derive a simple structured scheduling law that can be easily implemented in a satellite onboard computer. The derived gain has only two grid points and is scheduled simply by linear interpolation, which is desirable from the standpoint of implementability. Moreover, since the synthesis condition is based on parameter-dependent Lyapunov functions, it gives less conservative results than existing methods. Simulation results are presented to show the effectiveness of the proposed synthesis. 相似文献
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针对航空发动机运行过程中存在不确定性和稳定性问题,运用状态空间模型理论与线性矩阵不等式LMI相结合的方法设计了控制器,改善了航空发动机的控制性能。以某型涡扇发动机为控制对象,基于LMI对普通终端滑模变结构控制进行了优化设计,在滑模超平面设计中引入了动态补偿器,采用改进的幂次趋近律,对该动态系统进行了性能仿真验证。结果表明,本文提出的方法较之普通终端滑模变结构控制对系统性能有较大改善,不仅使系统主供油量变化率、尾喷口面积变化率等的控制更为平稳,且保证了系统鲁棒性和稳定性。 相似文献
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Xiao-Ni Zhang Guang-Hong Yang 《International Journal of Control, Automation and Systems》2009,7(2):319-324
This paper considers the state feedback control synthesis problem for linear continuous-time systems with small gain specifications
in mixed frequency ranges. A new method for designing the state feedback controllers is developed in the framework of linear
matrix inequality (LMI) approach. Finally, the effectiveness of the proposed method in comparison with the available result
is illustrated via an application to insulin pumps.
Recommended by Editorial Board member Poo Gyeon Park under the direction of Editor Jae Weon Choi. This work was supported
in part by the Funds for Creative Research Groups of China (No. 60821063), the State Key Program of National Natural Science
of China (Grant No. 60534010), National 973 Program of China (Grant No. 2009CB320604), the Funds of National Science of China
(Grant No. 60674021), the 111 Project (B08015) and the Funds of PhD program of MOE, China (Grant No. 20060145019).
Xiao-Ni Zhang received the B.E. and M.S. degree from the Shenyang Normal University, China, in 1999 and 2003, respectively, and a Ph.D.
candidate at Northeastern University. Her research interest covers robust control, mixed frequency optimal control and reliable
control.
Guang-Hong Yang received the B.S. and M.S. degrees in Northeast University of Technology, China, in 1983 and 1986, respectively, and the
Ph.D. degree in Control Engineering from Northeastern University, China (formerly, Northeast University of Technology), in
1994. He was a Lecturer/Associate Professor with Northeastern University from 1986 to 1995. He joined the Nanyang Technological
University in 1996 as a Postdoctoral Fellow. From 2001 to 2005, he was a Research Scientist/Senior Research Scientist with
the National University of Singapore. He is currently a Professor at the College of Information Science and Engineering, Northeastern
University. His current research interests include fault-tolerant control, fault detection and isolation, nonfragile control
systems design, and robust control. Dr. Yang is an Associate Editor for the International Journal of Control, Automation,
and Systems (IJCAS), and an Associate Editor of the Conference Editorial Board of the IEEE Control Systems Society. 相似文献
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针对动态区间系统和一个给定的二次型性能指标,研究了其保性能控制问题,基于线性矩阵不等式(LMI)提出了最优保性能控制器设计方法,并将相关结果推广到参数不确定系统.利用功能强大的LMI工具,求解非常方便.所给实例表明,该方法用于设计动态区间系统与秩-1型参数不确定系统的最优保性能控制器,非常有效. 相似文献
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Anders Helmersson 《国际强度与非线性控制杂志
》1998,8(7):631-642
》1998,8(7):631-642
This paper presents a solution to synthesis of gain scheduling controllers based on μ-analysis and linear fractional transformations (LFTs). The system is assumed to have parameter dependencies described by LFTs. The goal of the controller is, with real-time knowledge of the parameters, to provide disturbance and error attenuation. The paper treats both complex and real parametric dependencies. © 1998 John Wiley & Sons, Ltd. 相似文献
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Fernando O. Souza Leonardo A.B. Tôrres 《International journal of systems science》2013,44(10):1821-1830
A less conservative stability analysis condition for closed-loop delayed linear systems subjected to uncertain, bounded, non-differentiable, additive time delays is presented. The obtained stability condition is applied to the problem of networked control system robust design in the presence of network-induced delays and data packet dropouts. Illustrative examples are provided to show the advantage and applicability of the developed results in this case. 相似文献
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Hiroaki Mukaidani 《Asian journal of control》2011,13(6):1005-1017
This paper investigates a novel design method for robust nonfragile proportional‐integral‐derivative (PID) control that is based on the guaranteed cost control (GCC) problem for a class of uncertain discrete‐time stochastic systems with additive gain perturbations. On the basis of linear matrix inequality (LMI), a class of fixed PID controller parameters is obtained, and some sufficient conditions for the existence of the GCC are derived. Although the additive gain perturbations are included in the feedback systems, both the stability of closed‐loop systems and adequate cost bound are attained. As a sequel, decentralized GCC PID for a class of discrete‐time uncertain large‐scale stochastic systems is also considered. Finally, the numerical results demonstrate the efficiency of the proposed controller synthesis. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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Sandip Ghosh Sarit K. Das Goshaidas Ray 《International Journal of Control, Automation and Systems》2009,7(2):311-317
Adaptive stabilization of a class of linear systems with matched and unmatched uncertainties is considered in this paper.
The proposed controller indeed stabilizes the uncertain system for any positive values of its non-adaptive gain that may be
tuned to enhance dynamic response of system. The performance of uncertain system along with the Algebraic Riccati Equation
that arises from the adaptive stabilizing controller is now formulated as a multi-objective Linear Matrix Inequality optimization
problem. The decay rate and a factor governing the ultimate bound of the system states are considered to characterize the
closed loop system performance. Finally, the effectiveness of the proposed controller is illustrated via stabilizing a mass-spring
system.
Recommended by Editorial Board member Gang Tao under the direction of Editor Young Il Lee. The authors would like to thank
the reviewers for their valuable comments and suggestions that have improved the quality of this paper.
Sandip Ghosh received the B.E. in Electrical Engineering from Bengal Engineering College (D.U.), Howrah, and Master in Control System
Engineering from Jadavpur University, Kolkata, India, in 1999 and 2003 respectively. Presently he is pursuing the Ph.D. degree
at Indian Institute of Technology, Kharagpur, India. His research interests include adaptive control, robust control and control
of time-delay systems.
Sarit K. Das is a Professor of Electrical Engineering Department, Indian Institute of Technology, Kharagpur, India. He received the Ph.D.
degree in 1985 from the same department. His research interests include design of periodic controller, decoupling of multivariable
systems, modeling and robust control of complex systems.
Goshaidas Ray is a Professor of Electrical Engineering Department, Indian Institute of Technology, Kharagpur, India. He received the Ph.D.
degree in 1982 from Indian Institute of Technology Delhi, India. His research interests include modeling, estimation, model-based
control, intelligent control, robotic systems and distributed control systems. 相似文献
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研究多通道不确定时滞大系统的鲁棒分散H∞控制问题. 假定不确定性是时不变、范数有界, 且存在于系统、时滞和输出矩阵中. 主要针对动态输出反馈控制问题. 基于Lyapunov稳定性理论, 通过设定Lyapunov矩阵为合适的块对角结构, 采用矩阵替换的方法推导出了使多通道不确定时滞大系统可鲁棒镇定, 且满足一定的扰动水平的时滞依赖充分条件即线性矩阵不等式(LMI) 有可行解, 并且给出了具有期望阶数的分散鲁棒控制器的设计方法. 数值例子说明了本文提出方法的有效性. 相似文献