共查询到16条相似文献，搜索用时 93 毫秒
1.
建立了一类多组多滞后区间时变非线性控制大系统的结构概念，采用李雅普诺夫函数鲁棒镇定等价法，给出了无滞后和扰动结构参数线性时变控制大系统的关联镇定，它蕴含了具有扰动结构参数的多组多滞后区间时变非线性关联控制大系统的结构与关联鲁棒镇定，同时给出了扰动参数与滞后非线性项界限的估计公式。 相似文献
2.
3.
建立了多组多滞后区间系数时变非线性控制系统的结构概念，采用刘永清建立的鲁棒镇定的等价法，给出了具有扰动结构参数的多组多滞后区间系数时变非线性关联控制系统的结构与关联鲁棒镇定，同时给出了扰动参数与滞后非线性项界限的估计公式 相似文献
4.
5.
建立了多组多滞后区间系数的时变非线性控制系统的结构概念，采用刘永清建立的鲁棒镇定的等价法，给出了具有扰动结合参数的多组多滞后区间系数时在非性关控制系统的结构与关联鲁棒镇定，同时给出了扰动参数与滞后非线性项界了的估计公式。 相似文献
6.
7.
建立了多组多滞后区间系数时变非线性控制系统的结构概念，采用鲁棒镇定等价法，给出了具有扰动结构参数的多组多滞后区间系数时变非线性关联控制系统的结构与关联鲁棒镇定，同时给出了扰动参数与滞后非线性项界线的估计公式。 相似文献
8.
9.
针对离散时间非线性系统, 提出一种基于多李雅普诺夫(Lyapunov)函数的控制器设计方法. 该方法不仅能够保证闭环系统稳定性, 还能够扩大闭环吸引域(Domain of attraction, DOA). 首先, 给出基于多Lyapunov函数下系统渐近稳定的充分条件. 结果表明, 由多个Lyapunov函数的负定不变集构成的并集是一个稳定的控制集合, 其从控制空间到状态空间的投影是闭环DOA的估计. 随后, 使用区间分析算法求解集合的内近似估计, 基于此算法可以求解多Lyapunov函数的负定不变集的近似值和闭环DOA的估计值, 并给出相应控制器的设计方法. 最后, 通过仿真算例验证了本文方法的有效性. 相似文献
10.
11.
12.
一类关联时滞系统的分散稳定化控制器设计 总被引：9，自引：1，他引：9
应用Lyapunov稳定性理论,提出一类关联时滞系统能用分散线性状态反馈镇定的充分条件,进而证明了该条件等价于子系统级上N个带参数的代数Riccati矩阵方程的正定解的存在性,并利用这些正定解矩阵给出了相应的稳定化分散控制器。应用所提出的方法,可望得到具有更小反馈增益参数的分散稳定化控制律。 相似文献
13.
14.
15.
Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. The communication delay becomes one of the main challenging issues in the teleoperation control design. Meanwhile, various nonlinearities, parameter variations, and modeling uncertainties existing in manipulator and environment dynamics need to be considered carefully in order to achieve good control performance. In this paper, a globally stable nonlinear adaptive robust control algorithm is developed for bilateral teleoperation systems to deal with these control issues. Namely, the unknown dynamical parameters of the environmental force are estimated online by the improved least square adaptation law. A novel communication structure is proposed where only the master position signal is transmitted to the slave side for the tracking design, and the online estimators of the environmental parameters are transmitted from the slave to the master to replace the traditional environmental force measurement. Because the estimated environmental parameters are not power signals, the passivity problem of the communication channel and the trade‐off limitation between the transparency performance and robust stability in traditional teleoperation control are essentially avoided. The nonlinear adaptive robust control is subsequently developed to deal with nonlinearities, unknown parameters, and modeling uncertainties of the master, slave, and environmental dynamics, so that the guaranteed transient and steady‐state transparency performance can be achieved. The experiments on two voice‐coil motor‐driven manipulators are carried out, and the comparative results verify that the proposed control algorithm achieves the excellent control performance and the guaranteed robust stability simultaneously under time delays. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献