共查询到20条相似文献,搜索用时 31 毫秒
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张阅 《计算机应用与软件》2022,39(3):89-95
针对复杂飞行环境下的多四旋翼飞行器系统,提出一种基于有限时间扩张状态观测器的主从编队控制策略(FTESO-LFFC).对于领航者子系统,提出一种积分滑模控制(ISM)策略,通过引入的积分项,消除了传统滑模控制中的趋近阶段,提高了系统的鲁棒性.对于跟随者子系统,提出一种非奇异终端滑模控制(N TS M)策略,该方法在解决... 相似文献
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In this paper, the disturbance observer–based chattering‐free discrete‐time sliding mode control (DSMC) approach is proposed for systems with external disturbances. The proposed disturbance observer, which makes full use of the state and input information at the current and last steps, improves the estimation accuracy and achieves accurate compensation for disturbances. Then, with the help of disturbance observer, a new reaching law, which contains not only a nonsmooth term with a dynamically adjusted gain parameter but also a second order difference of the disturbance, is proposed to reduce the range of the quasi‐sliding mode band and eliminate chattering. The proposed DSMC approach realizes the active disturbance rejection and strong robustness. Finally, a simulation example is presented to verify the effectiveness of the proposed method. 相似文献
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针对一类带有外部扰动的未知MIMO非线性离散系统,提出一种新型自适应准滑模控制算法.该算法基于非参数动态线性化技术,运用高阶滑模控制的思想实现带有扰动系统的二阶准滑模控制.同时,利用扰动解耦技术,在控制器的设计中引入离散扩张状态观测器(DESO)对系统各回路间的耦合以及数据模型的未建模动态进行补偿,以进一步实现多变量系统的解耦,提升控制品质.理论分析和仿真结果说明了所提出方法的有效性和可行性. 相似文献
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针对高超声速飞行器非线性和易受干扰影响的特点,提出了带有扩张状态干扰观测器的连续滑模控制方法.在对飞行器非线性模型做线性化处理的基础上,设计了一种连续时间滑模控制器.该控制器在对不确定性和未知动态保持鲁棒性的基础上,消除了传统滑模中存在的抖振现象.对系统中存在的外加干扰,设计了扩张状态干扰观测器.将外加干扰作为系统的一个状态变量被估计出来,再将估计值用作滑模控制器的补偿量,进而达到消除外干扰的目的.在高超声速飞行器巡航飞行状态的基础上进行了仿真.仿真结果表明,所提出的方案能够满足控制要求. 相似文献
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Mohamed Mihoub Ahmed Said Nouri Ridha Ben Abdennour 《Control Engineering Practice》2011,19(10):1216-1222
This paper concerns the chattering elimination from discrete sliding mode observers. The dilemma chattering-precision, that characterizes the first order sliding mode observer in case of relatively large parameter variations and/or external disturbances, is discussed and the influence of the discontinuous term amplitude on the estimation performance is shown by a simulation example. The proposed second order discrete sliding mode observer is, then, introduced. The stability of a closed loop control system based on the proposed observer is analyzed. A real time application of the proposed observer incorporated into a 2-DSMC control loop of a chemical reactor is presented. 相似文献
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Chutiphon Pukdeboon Pimchana Siricharuanun 《International Journal of Control, Automation and Systems》2014,12(3):530-540
This paper studies finite-time attitude tracking control problem of a rigid spacecraft system with external disturbances and inertia uncertainties. Firstly, a new finite-time attitude tracking control law is designed using nonsingular terminal sliding mode concepts. In the absence and presence of external disturbances and inertia uncertainties, this controller can drive the attitude and angular velocity tracking errors to reach zero in finite time. Secondly, a finite-time disturbance observer is introduced to estimate the disturbance, and a composite controller is developed which consists of a feedback control based on nonsingular terminal sliding mode method and compensation term based on finite-time disturbance observer. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system is ensured by the Lyapunov approach. Numerical simulations on attitude control of spacecraft are also given to demonstrate the performance of the proposed controllers. 相似文献
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针对含未知负载信息的二质量伺服系统,提出一种基于有限时间扩张状态观测器的非奇异快速终端滑模控制方法.首先,利用电机侧位置信息设计有限时间扩张状态观测器估计系统的扰动,并将估计值融入到控制器中作为前馈项对系统的未知扰动进行补偿;然后,引入一种新型的滑模趋近律,该趋近律能够避免传统滑模控制中存在的奇异性问题,据此设计非奇异快速终端滑模控制器,保证系统状态在有限时间内收敛到原点,并根据李雅普诺夫稳定性理论分析闭环系统的稳定性;最后,通过仿真和实验验证所提出方法的优越性.结果表明,与传统的PID等控制相比较,所提出的基于扩张状态观测器的有限时间滑模控制方法能够提高系统的跟踪性能,并有效增强二质量伺服系统的抗扰动能力. 相似文献
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The output tracking (OT) of arbitrary references in discrete‐time (DT) nonlinear systems is addressed by designing an output‐feedback control. A set of difference‐algebraic equations is proposed as an exact solution of the problem. Using a novel technique of approximating DT functions, the system disturbance and steady states, characterized by tracking error identically zero, for both the system state and the control input, are represented as signals generated by a disturbed dynamic system. Using the mentioned dynamics, the control system is extended. Then, a state observer is proposed to estimate the resulting extended system state. Finally, a DT sliding mode controller is designed to achieve the approximate OT. Simulations show the effectiveness of the proposed control scheme. 相似文献
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非仿射系统的自学习滑模抗扰控制 总被引:1,自引:0,他引:1
针对一类单输入单输出(single-input single-output,SISO)非仿射非线性系统的控制问题,提出了一种自学习滑模抗扰控制方法.该方法用非线性光滑函数设计扩张状态观测器,实现SISO非仿射非线性系统内部不确定性和外部扰动的扩张状态估计,并将扩张状态观测器(extended state observer,ESO)与自学习滑模控制技术融为一体,实现SISO非仿射非线性系统的自学习滑模抗扰控制.该方法不依赖受控对象的数学模型,可以快速跟踪任意给定的参考信号.数值仿真试验表明了该方法响应速度快、控制精度高,具有很强的抗扰动能力,因而是一种鲁棒稳定性很强的控制方法,在SISO非仿射非线性系统控制领域具有重要作用. 相似文献
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In this paper, we are concerned with the boundary feedback stabilization of a one-dimensional Euler–Bernoulli beam equation with the external disturbance flowing to the control end. The active disturbance rejection control (ADRC) and sliding mode control (SMC) are adopted in investigation. By the ADRC approach, the disturbance is estimated through an extended state observer and canceled online by the approximated one in the closed-loop. It is shown that the external disturbance can be attenuated in the sense that the resulting closed-loop system under the extended state feedback tends to any arbitrary given vicinity of zero as the time goes to infinity. In the second part, we use the SMC to reject the disturbance by removing the condition in ADRC that the derivative of the disturbance is supposed to be bounded. The existence and uniqueness of the solution for the closed-loop via SMC are proved, and the monotonicity of the “reaching condition” is presented without the differentiation of the sliding mode function, for which it may not always exist for the weak solution of the closed-loop system. The numerical simulations validate the effectiveness of both methods. 相似文献
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To tackle the trajectory tracking problem and achieve high control accuracy in many actual nonlinear systems with unknown dynamics and input saturation, a novel discrete-time extended state observer-based model-free adaptive constrained sliding mode control with modified prescribed performance is investigated via compact-form dynamic linearization (CFDL) and partial-form dynamic linearization (PFDL). Firstly, the original non-affine system is turned into an affine one comprising an unknown nonlinear term and a linearly parametric term affine to the input via both PFDL and CFDL. Then, a discrete-time extended state observer (DESO) is used to estimate the lumped disturbance containing the unknown nonlinear time-varying term and the term relevant to the estimation error of pseudo partial derivative (PPD) parameter. Furthermore, a modified prescribed performance function is introduced in the model-free adaptive sliding mode control scheme to keep the output tracking error in the prescribed bound without causing any asymmetric offset error in the steady-state. Meanwhile, to suppress the influence of input saturation on the control system, an anti-windup compensator is used. Finally, rigorous theoretical analyses show the robust convergence of the tracking error via the proposed CFDL and PFDL-based methods under external disturbances. Simulations verify the superiority of the modified prescribed performance function, DESO, and anti-windup compensator in the proposed method. Also, the effects of the PFDL-based method and the CFDL-based one are compared during the simulation. 相似文献
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针对存在时变干扰和通信受限的船舶艏向保持控制问题, 本文设计了一种基于混合阈值事件触发机制的船舶自适应神经滑模控制算法. 首先, 采用径向基函数神经网络(RBF-NNs)对控制系统的模型不确定部分进行在线逼近. 其次, 构造了一种比例积分滑模面和基于混合阈值参数的事件触发规则来降低时变干扰引起的系统抖振和减少传输信道的通信资源占用. 并且在理论上分析了事件触发技术能够增强闭环控制系统对低频扰动的抗扰性. 最后, 通过Lyapunov理论证明了所提控制算法能够保证所有误差信号满足半全局一致最终有界稳定(SGUUB). 在时变干扰条件下进行数值仿真, 并且与现有控制技术进行对比, 仿真结果表明, 所提控制算法能够明显减少系统抖振和控制输入频率. 相似文献
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针对一类非线性不确定系统,提出一种带干扰观测器的终端滑模控制TSMC方案.在不考虑外部干扰的影响下,设计了终端滑模控制,保证系统状态在有限时间内收敛到零;当存在干扰时,构造了非线性干扰观测器系统,以在线逼近未知外部干扰,消除其影响.考虑输人通道的不确定性,采用自适应方法在线逼近不确定的上界,并采用Lyapunov方法严格证明了自适应闭环系统的稳定性.对一级倒立摆系统进行仿真,仿真结果表明了所设计控制方案的有效性. 相似文献
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针对不确定性离散时间系统,分析和设计了一类变结构控制器。当存在外界干扰和不确定性时,系统状态也是全局有界稳定的。一个新的切换面作为系统的输出信号被提出,特别用来设计滑模控制器。系统状态一旦进入到准滑动模态,就对设备参数变化和外界干扰显示出强的鲁棒性,因为控制器的设计完全考虑了边界层的影响。外推法被用来估计不确定离散时间系统的不确定值。两种方法均有效地消除了系统的抖振,确保了系统的稳定性,且保证了变结构控制系统良好的品质。最后,仿真结果证实了所提出方法的有效性。 相似文献
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This paper describes a method for designing discrete time static output feedback sliding mode tracking controllers for uncertain systems that are not necessarily minimum phase or of relative degree one. In this work, a procedure for realizing discrete time controllers via a particular set of extended outputs is presented for systems with uncertainties. The conditions for existence of a sliding manifold guaranteeing a stable sliding motion are given. A procedure to synthesize a control law that minimizes the effect of the disturbance on the sliding mode dynamics and the augmented outputs is given. The proposed control law is then applied to a benchmark aircraft problem taken from the literature that represents the lateral dynamics of a F‐14 aircraft under powered approach. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献