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A new sliding mode controller design method is proposed for a class of system with mismatched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainties. A sufficient and necessary condition which the system possessing this sliding mode controller should satisfy is explicitly presented. The issue of chattering free is also explored. It is concluded that this class of mismatched term does not bring any chattering problem. Finally, a numerical example illustrates the developed method. 相似文献
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针对一类带有不匹配非线性不确定的线性时滞系统,基于稳定性理论,提出一种新的依赖于时滞的滑动模控制策略。该控制策略保证闭环系统滑动阶段的存在性,并在此基础上证明滑动模态运动的稳定性。最后通过仿真例子看出,抖振现象被大大减弱,这进一步说明该控制策略的可行性和有效性。 相似文献
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This paper presents an optimal design of sliding mode controller with a constraint for a general class of uncertain systems. The method proposed here takes into account nonmatching disturbance signals and nonmatching system model uncertainties. Without requiring any transformation or restriction on the input matrix, our approach leads to a straightforward design which can be easily solved by using linear matrix inequality (LMI) technique. By solving the problem of optimal sliding motion design with some quadratic constraints based on LMIs, a mixed approach is presented to reduce the effect of uncertainties and disturbances on the sliding motion. Finally, we give simulation results for controlling a chemical reactor to illustrate the applicability of the proposed scheme for uncertain time‐delay systems or mismatched uncertain systems. 相似文献
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This paper studies the sliding mode controller design problems for a class of nonlinear system. The nonlinear function is considered to satisfy conic-type constraint condition. A novel finite-time boundedness (FTB) based sliding mode controller design theory is proposed. And then a sufficient condition is obtained in terms of linear matrix inequalities (LMIs), which guarantees the resulted sliding mode dynamics to be FTB wrt some predefined scalars. Thereafter, a FTB-based sliding mode control (SMC) law is synthesized to ensure the state of the controlled system is driven into a novel desired switching surface s(t)=c (c is a constant) in a finite time. Simulation results illustrate the validity of the proposed FTB-based SMC design theory. 相似文献
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This paper focuses on a novel feedback linearization control (FLC) law based on a self‐learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC‐BNDO) demonstrates robust control performance only against mismatched time‐invariant uncertainties while the FLC based on SLDO (FLC‐SLDO) demonstrates robust control performance against mismatched time‐invariant and ‐varying uncertainties, and both of them maintain the nominal control performance in the absence of mismatched uncertainties. In the estimation scheme for the SLDO, the BNDO is used to provide a conventional estimation law, which is used as the learning error for the type‐2 neuro‐fuzzy system (T2NFS), and T2NFS learns mismatched uncertainties. Thus, the T2NFS takes the overall control of the estimation signal entirely in a very short time and gives unbiased estimation results for the disturbance. A novel learning algorithm established on sliding mode control theory is derived for an interval type‐2 fuzzy logic system. The stability of the overall system is proven for a second‐order nonlinear system with mismatched uncertainties. The simulation results show that the FLC‐SLDO demonstrates better control performance than the traditional FLC, FLC with an integral action (FLC‐I), and FLC‐BNDO. 相似文献
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非匹配不确定非线性系统的自适应反演滑模控制 总被引:12,自引:3,他引:12
针对一类具有非匹配不确定性的最小相位仿射非线性系统,研究其在未知扰动作用下的调节问题。基于自适应反演设计方法和变结构控制设计了控制方案,实现不确定系统的鲁棒调节。与经典反演设计相比,本方案允许非参数化不确定性,增强了控制系统的鲁棒性。 相似文献
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对于一类n阶非线性系统,提出一种自适应反演准滑模控制方法,控制的前n-1步采用自适应反演算法消除非匹配不确定性的影响,在最后一步,为改进跟踪效果,结合了可变边界层的思想,设计了准滑模控制方法,达到系统的n个状态快速收敛的目的.最终系统中不满足匹配条件的部分也具有较好的鲁棒性.与自适应反演线性滑模方法相比具有更好的跟踪性,理论分析证明了控制系统在削弱抖振的同时也能保证稳态精度,仿真实验证明了该方法的可行性. 相似文献
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本文针对自治水下机器人(AUV)的控制特点,建立了AUV水平面动力学的数学模型,将模糊逻辑引入到了滑模控制器的设计中,通过模糊控制规律直接设计滑模控制量,并运用计算机仿真手段进行了验证,仿真结果验证了该控制方法具有很好的控制性能,有效地消除了滑模控制的抖振,对外部扰动具有较强的鲁棒性,而且具有良好的响应特性。 相似文献
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对于采用自适应方法的鲁棒跟踪控制系统,初始参数估计误差、参数突变、非持续激励等因素均可引起瞬态过程.瞬态性能的好坏对跟踪误差峰值及恢复时间有较大影响,是实现高性能跟踪控制的关键,而目前典型设计多采用直接自适应方法,其较差的瞬态特性制约了跟踪性能的进一步提高.针对该问题,以交流伺服系统为研究对象,将直接自适应、间接自适应及滑模控制相融合,提出一种基于有界增益遗忘最小二乘法的复合自适应滑模控制( CASMC)策略,Lyapunov分析表明该策略可实现持续激励条件下跟踪误差和参数估计误差在较大范围内的指数收敛,瞬态特性较清晰.最后,以某型火炮的方位轴伺服系统为应用背景进行仿真实验,结果显示,该控制策略在瞬态过程的误差峰值和持续时间方面均有显著改善,提高了伺服系统的跟踪性能. 相似文献
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针对存在外界干扰的连续系统,讨论了状态空间模型的离散自适应滑模控制.引入δ算子使离散化后的系统接近于原来的连续系统,并引入干扰估计器得到干扰的近似估计值,使所选的控制律得以实现.当参数未知时,用干扰估计值代替未知干扰,避免了干扰对自适应控制律的影响,从而保证了闭环系统的稳定性. 相似文献
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不确定时滞分布参数系统的滑动模控制 总被引:3,自引:1,他引:3
本文研究一类不确定时滞分布参数系统的滑动模控制问题,设计了滑动模控制器,分析了在滑动模切换面上滑动模控制系统关于不确定量的不变性特征。 相似文献
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一类不确定系统的自适应非奇异Terminal滑模控制 总被引:1,自引:0,他引:1
提出针对一类不确定系统的自适应非奇异Terminal滑模控制。确定含非线性项的滑模面,通过构造李亚普洛夫函数的方式确定控制器结构,设计自适应增益控制律实时估计不确定参数,并考虑外扰动的影响,证明控制系统的稳定性和鲁棒性。仿真结果验证自适应非奇异Terminal滑模控制器能够使不确定系统状态变量快速收敛。 相似文献
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A variable structure control system for output tracking in the presence of a class of mismatched uncertainty is studied in this paper. For the mismatched uncertainty, we use an unknown input observer to estimate the states and then apply the VSS control methodology to attain asymptotic output tracking for an arbitrary desired trajectory. The robustness of the VSS control system in the presence of mismatched uncertainty is analyzed using the quadratic stability approach. 相似文献