共查询到17条相似文献,搜索用时 125 毫秒
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研究了作业空间中的机器人调节问题。采用 Cayley- Rodrigues参数及修正的 Rodrigues参数来描述机器人末端执行器的姿态 ,提出了两种控制律 ,一种为状态反馈控制律 ,另一种为不需测量广义速度的输出反馈控制律。用Rodrigues参数或修正的 Rodrigues参数与广义速度通过反馈线性化方法构造了一种渐近稳定的状态反馈控制律。在此基础上 ,探讨了机器人控制系统的一种新的无源性 ,并利用这种新的无源性设计了无需测量广义速度的动态输出反馈控制律。目前的动态输出反馈控制器都采用 7阶无源网络 ,而本文的控制器是由 6阶平方线性系统实现的。 相似文献
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面对当前使用的平均驻留时间的反馈控制方法、基于切换原理的反馈控制方法受到外界环境干扰,导致控制效果不佳的问题,提出干扰输入影响下离散线性切换系统的反馈控制方法。 分析离散线性切换系统,设定切换信号是唯一的和任意的 2 种情况,由此设计线性切换状态下的反馈控制器,在干扰输入影响下,构建被控对象模型,描述输出反馈问题,简化信号非统一输入过程,确定任意切换时间内存在的 2 个控制量,设计降阶控制律,构造一阶输出反馈律,实现有限时间镇定反馈控制。 实验结果表明,该方法输出的响应曲线与实际最大时延上界为 6 ms 的控制情况一致,说明反馈控制效果较好。 相似文献
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非完整系统的镇定控制研究主要内容是寻找一种控制律,即通过反馈控制律的设计,使得以非完整系统为对象的闭环系统在原点渐进稳定或指数稳定。文章的算法涉及的是不确定非完整系统的自适应控制律设计。为了在机器人上对算法进行验证,需要用C++编程语言,其中会涉及到利用Runge-Kutta法求解微分方程组。 相似文献
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基于同位加速度传感/压电驱动的反馈方法,对用扬声器进行声激励的四面固支铝板开展多模态振动主动控制研究。根据实验模态分析的结果,确定了传感和驱动的位置。经过压电片传感/压电片驱动和加速度传感/压电片驱动两种方案的对比,选择了能观性和能控性较好的加速度传感方式。在正位置反馈控制律(positive position feedback,简称PPF)的基础上,以加速度信号进行反馈控制律的设计,提出基于加速度负反馈控制方案 (negative acceleration feedback,简称NAF),并对其进行稳定性和控制机理分析。控制时以加速度信号作为评价指标,对64和158 Hz两个模态分别进行单模态和多模态控制。结果表明,基于加速度的反馈控制可以大幅度降低铝板的振动,最大控制效果可达11 dB,远大于PPF的控制效果,对单模态和多模态均能实现有效的振动控制。 相似文献
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针对有不确定网络诱导时延的网络控制系统,本文研究了鲁棒H∞保成本状态反馈控制律的设计问题。首先通过数学推导将网络诱导时延的不确定性转化为参数的不确定性,然后基于李雅普诺夫稳定性定理,以线性矩阵不等式(LMI)的形式推导出使闭环系统无扰动时鲁棒渐近稳定并具有一定性能的状态反馈控制律的形式,进而在系统有扰动时设计了γ次优鲁棒H∞状态反馈控制律。 相似文献
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随着移动机器人在工业、农业、军事等领域中的广泛应用,对其自主运动控制技术的需求逐渐增大.为了实现履带式移动机器人的轨迹跟踪控制,建立了运动学模型和轨迹跟踪动态误差模型.基于Lyapunov稳定性理论,提出了一种状态反馈控制律,并通过Lyapunov函数对控制律的稳定性进行了证明.为了评估所提出控制律的性能,在Matlab/Simulink环境下分别进行了直线轨迹跟踪和圆形轨迹跟踪仿真实验.仿真实验结果表明,所设计的控制律能够快速有效地实现直线轨迹跟踪与圆形轨迹跟踪,具有较好的控制效果,可应用于履带式移动机器人轨迹跟踪控制的实际项目中. 相似文献
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高维磁悬浮控制系统二次状态反馈鲁棒稳定性研究 总被引:1,自引:0,他引:1
运用中心流形—范式综合方法 ,从理论上讨论了高维磁悬浮柔性转子控制系统二次状态反馈鲁棒稳定性问题。提出了此类高维控制系统渐近稳定的条件和二次状态反馈稳定定理 ,给出了此高维系统二次反馈控制律的构造方法 ;最后 ,对上述控制策略下的鲁棒性进行了分析和证明 相似文献
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Shi XiaopingSimulation Center Harbin Institute of Technology Harbin China 《机械工程学报(英文版)》2003,16(4):424-427,444
In an extraction turbine, pressure of the extracted steam and rotate speed of the rotor are twoimportant controlled quantities. The traditional linear state feedback control method is not perfectenough to control the two quantities accuraely because of existence of nonlinearity and coupling. Ageneralized minimum variance control method is studied for an extraction turbine. Firstly, a nonlinearmathematical model of the control system about the two quantities is transformed into a linear systemwith two white noises. Secondly a generalized minimum variance control law is applied to the system.A comparative simulation is done. The simulation results indicate that precision and dynamic qualityof the regulating system under the new control law are both bcher than those under the state feedbackcontrol law. 相似文献
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电液仿射非线性系统的离散模型跟随自适应控制 总被引:1,自引:0,他引:1
提出了一种将非线性状态反馈变换与模型跟随自适应控制(AMFC)相结合,适用于电液仿射非线性系统且无需在线参数估计和状态检测的离散AMFC控制方法。该方法利用对象的输入--输出数据序列取代在构造控制律时所需的对象状态信息,同时保证系统仍然能够实现准确的模型跟随控制。给出了满意的仿真结果。 相似文献
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This paper shows how to apply generalized eigenvalue minimization to processes that can be described by a first-order plus time-delay model with uncertain gain, time constant and delay. An algorithm to transform the uncertain first-order plus time delay model into a state-space model with uncertainty polyhedron is firstly described. The accuracy of the transformation is studied using numerical examples. Then, the uncertainty polyhedron is rewritten as a linear-matrix-inequality constraint and generalized eigenvalue minimization is adopted to calculate a feedback control law. Case studies show that even if uncertainties associated with the first-order plus time delay model are significant, a stable feedback control law can be found. The proposed control is tested by comparing with a robust internal model control. It is also tested by applying it to the temperature control of air-handing units. 相似文献
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M.H. Korayem F. Davarpanah H. Ghariblu 《The International Journal of Advanced Manufacturing Technology》2006,29(3-4):389-397
A computational technique for obtaining the maximum load carrying capacity of robotic manipulators with joint elasticity,
subject to accuracy and actuators constraints, is described herein. A feedback linearization technique is used to minimize
end-effector deflection. An inversion algorithm is employed for the synthesis of a dynamic feedback control law that provides
input-output decoupling and full state linearization. The linearizing input transformations and the corresponding state diffeomorphisms
are presented. The proposed technique is then applied to a flexible joint robot. Linearizing control law is been expressed
in terms of different sets of model variables and their derivatives. As a result, different tracking errors and torques are
introduced in the robot-given trajectory and different load carrying capacities are obtained. 相似文献
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Young-Ik Son Hyungbo Shim Nam-Hoon Jo Kab-II Kim 《Journal of Mechanical Science and Technology》2005,19(2):618-624
We present a new state-space approach to construct a dynamic output feedback controller which stabilizes a class of linear
time invariant systems All the states of the given system are not measurable and only the output is used to design the stabilizing
control law In the design scheme, however, we first assume that the given system can be stabilized by a feedback law composed
of the output and its derivatives of a certain order Beginning with this assumption, we systematically construct a dynamic
system which removes the need of the derivatives The mam advantage of the proposed controller is regarding the controller
order, which may be smaller than that of conventional output feedback controller Using a simple numerical example, it is shown
that the order of the proposed controller is indeed smaller than that of reduced-order observer based output feedback controller 相似文献