TWO‐DEGREE‐OF‐FREEDOM CONTROL SCHEME FOR PROCESSES WITH LARGE TIME DELAY

In this paper, an analytical two‐degree‐of‐freedom‐control scheme is proposed for controlling processes with large time delay. The main contributions of this paper are that a setpoint response controller and an H_∞ PID load‐loop controller are developed based on optimal control theory, and control parameters are derived analytically. This structure can also be used to control integrating or unstable processes.     

水下声纳基阵姿态鲁棒控制频域设计

对水下声纳基阵运行姿态伺服系统进行了建模和鲁棒控制器的设计，在计算机上对所设计的系统进行了数字仿真。讨论了在随机海浪作用下船的艏摇角姿态随机运动的数字仿真问题，结果表明，当系统参数在允许范围变化时，所设计的鲁棒控制伺服系统具有满意的性能指标。     

机器人鲁棒模型跟踪控制

本文根据非线性系统模型参考控制理论,提出了一种连续的机器人控制方法.这种方法可以保证跟踪误差的有界性,消除不连续控制中的高频颤动现象,同时继承了不连续控制中的鲁棒特性。     

不确定性机器人的鲁棒控制

本文研究不确定性刚性机器人的鲁棒控制问题，提出了一种新的鲁棒控制方案，控制器由两部分组成：第一部分为基于标称模型设计的计算力矩控制器；第二部分为基于Ｌｙａｐｕｎｏｖ方法设计的鲁棒补偿控制器，其作用是消除不确定性对跟踪性能的影响。本文证明了闭环系统的全局收敛性，仿真结果表明本方法对于存在外扰和模型不确定性的机器人系统是十分有效的。     

ROBUST ADAPTIVE CONTROL FOR STRICT‐FEEDBACK NONLINEAR SYSTEMS

In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strict‐feedback nonlinear systems with nonparametric uncertain nonlinearities. It is shown that one can design a stable adaptive control system provided that the uncertain nonlinearities can be decomposed by unknown bounded nonlinear functions and known nonlinear functions. The proposed method can deal with uncertain nonlinearities that appear at the control input term too. It is also shown that suitable choice of design parameters guarantees the convergence of tracking error to any desired bound.     

广义不确定系统稳定鲁棒控制

利用李雅普诺夫稳定理论和矩阵范数性质研究了广义不确定系统的稳定鲁棒控制问题.在不同情况下,分别给出了保证闭环不确定系统渐进稳定的两类稳定鲁棒控制:状态反馈、正常动态补偿器的设计方法,得到了鲁棒稳定控制的不确定量的范数界,而且提出了在多个稳定鲁棒控制器中寻找具有最大的不确定量范数界的控制器的方案.     

连续状态模糊控制系统的鲁棒稳定性分析

1　引言关于模糊系统的稳定性研究 ,目前已有许多相关的分析和设计方法 [1 ] .比如 ,文献 [2 ]中证明了凡用经典控制能稳定控制的系统必可用模糊控制达到相同的稳定性能 ,文献 [3]中有关 Takagi- Sugeno模糊系统的稳定性研究 ,文献 [4 ]中有关关系模型的模糊稳定性分析 ,文献 [     

AN LMI APPROACH TO ROBUST H∞ CONTROL FOR UNCERTAIN CONTINUOUS‐TIME SYSTEMS

This paper investigates the problems of robust H∞ control for uncertain continuous‐time systems with time‐varying, norm‐bounded uncertainties in all system matrices. Necessary and sufficient conditions for the above problems are proposed. All conditions are represented in the form of linear matrix inequalities (LMIs). The robust H∞ controller can be easily designed from the solutions of the LMI conditions. Unlike earlier works, the proposed method does not involve any parameter tuning. Thus the robust H∞ optimization control problem, which has not been discussed in earlier reports, can be dealt with using this newly proposed method.     

非线性系统的鲁棒自适应模糊控制

针对反馈线性化后的不确定非线性对象,提出了一种鲁棒自适应控制方法.采用模糊模型逼近不确定项,用逐步后推技术构造出自适应律,在线调节模糊模型的参数,同时处理存在估计误差时的干扰抑制问题.该方法还用于感应电动机速度控制的仿真.用李亚普诺夫方法证明了整个系统的稳定性和鲁棒性.该方法适用于任意有界时变干扰,通过模糊模型还可以加入对干扰的经验知识.     

ROBUST NEURAL NETWORK CONTROL OF RIGID LINK FLEXIBLE-JOINT ROBOTS

A robust Neural Network (NN) controller is proposed for the motion control of rigid-link flexible-joint (RLFJ) robots. No weak joint elasticity assumption is needed. The NNs are used to approximate three very complicated nonlinear functions. Our NN approach requires no off-line learning phase, and no lengthy and tedious preliminary analysis to find the regression matrices. Most importantly, we can guarantee the uniformly ultimately bounded (UUB) stability of tracking errors and NN weights. The controller can be regarded as a universal reusable controller because the same controller can be directly applied to different RLFJ robots with different masses and lengths within the same class, for instance, of two-link revolute RLFJ robots.     

不确定机器人的鲁棒计算力矩控制

本文研究了存在扰动和参数不确定因素时机器人的轨迹跟踪控制问题.给出了一种鲁棒计算力矩控制方案,它由改进力矩发生器和鲁棒补偿器组成,该方案具有下述特点:①不依赖精确机器人模型;②容忍一定程度的计算误差。这给模型简化、减轻控制计算机运算负担、缩短运算时间提供了一条途径;③保证被控机器人具有渐近跟踪理想轨迹的能力.这些结论通过仿真实验已初步得到证实.     

双连杆柔性臂轨迹跟踪的鲁棒控制

研究了双连杆柔性臂轨迹跟踪的鲁棒控制问题·基于假设模态法和奇异摄动法,导出了双连杆柔性臂系统的动力学方程,并将系统模型分离为慢变和快变两个子系统.针对柔性臂的特点,提出了关节角的补偿控制思想,并且给出了补偿控制算法.对两个子系统分别采用滑模变结构控制和H∞控制,由此得到的组合控制使系统精确跟踪目标轨迹.研制了双连杆柔性臂实验台,并对文中提出的方法进行了实验.     

时滞控制系统鲁棒稳定性分析

Lurie型时滞控制系统是工程实践中经常遇到的一类重要的非线性控制系统,本文通 过构造Lyapunov函数,提出了不确定性Lurie时滞控制系统Robust稳定的充分条件,并给出 了本文结果的一个应用实例．     

ADAPTIVE ROBUST CONTROL OF UNCERTAIN SYSTEMS WITH TIME‐VARYING STATE DELAY

In this paper, a new adaptive robust control scheme is developed for a class of uncertain dynamical systems with time‐varying state delay, unknown parameters and disturbances. By incorporating adaptive techniques into the robust control method, we propose a continuous adaptive robust controller which guarantees the uniform boundedness of the system and at the same time, the regulating error enters an arbitrarily designated zone in a finite time. The proposed controller is independent of the time‐delay, hence it is applicable to a class of dynamical systems with uncertain time delays. The paper includes simulation studies demonstrating the performance of the proposed control scheme.     

指数稳定的机器人鲁棒跟踪控制

本文提出了一种用于控制具有参数不确性机器人轨迹踊跃的鲁棒控制策略，该控制器的设计根据Ｌｙａｐｕｎｏｖ理论，由一个基于Ｓｌｏｔｉｎｅ方法的标称控制器和一个非线性连续反馈补偿器组成。     

DELAY‐DEPENDENT ROBUST CONTROL FOR UNCERTAIN SINGULAR TIME‐DELAY SYSTEMS

The problem of delay‐dependent robust stabilization for uncertain singular time‐delay systems is investigated in this paper. The parameter uncertainty is assumed to be norm‐bounded and possibly time‐varying, while the time delay considered here is assumed to be constant but unknown. A delay‐dependent condition is presented for a singular time‐delay system to be regular, impulse free, and stable, based on which robust stability analysis and the robust stabilization problem are studied. An explicit expression for the desired state‐feedback control law is also given. The obtained results are formulated in terms of linear matrix inequalities (LMIs), which involve no decomposition of the system matrices. Some numerical examples are given to show the efficiency of the theoretical conditions.     

不确定系统具有圆盘区域极点约束的鲁棒控制

对一类不确定线性系统,提出了存在状态反馈控制律,使得闭环系统的所有极点均位 于一给定圆盘中的一个充分必要条件.结合控制律反馈增益参数极小化的要求,建立了一个具 有线性矩阵不等式约束的凸优化问题,通过该问题的解,可以构造一个具有较小反馈增益参数 和给定要求的控制律.所提出的方法既可应用到连续系统,也可应用到离散系统.     

ROBUST ADAPTIVE CONTROL WITH MULTIPLE ESTIMATION MODELS FOR STABILIZATION OF A CLASS OF NON‐INVERSELY STABLE TIME‐VARYING PLANTS

This paper presents an indirect adaptive control scheme for nominally stabilizable non‐necessarily inversely stable continuous‐time systems with unmodelled dynamics. The control objective is the adaptive stabilization of the closed‐loop system with the achievement of a bounded tracking‐error between the system output and a reference signal given by a stable filter. The adaptive control scheme includes several estimation algorithms and a supervisor which selects the appropriate estimator at every certain time and keeping it operating for at least a minimum period of residence time. This selection is based on a performance criterion related to a measure of the estimation errors obtained with each estimator. In this way, the performance of the output signal is improved with regard to the performance achieved with a unique estimation algorithm. All the estimators are either of the least‐squares type or gradient type. However, any well‐posed estimation algorithm is potentially valid for application. These estimators include relative dead‐zones for robustness purposes and parameter ‘a posteriori’ modifications to ensure the controllability of the estimated models of the plant, which is crucial for proving the stabilizability of the plant via adaptive pole‐placement designs.     

考虑摩擦力影响精密伺服系统的鲁棒自适应控制

针对具有摩擦力扰动的精密伺服系统提出了一种鲁棒自适应控制方法.首先,对基于bristle模型的动态摩擦力模型进行了线性参数化,该线性参数化过程包含了对stribeck效应的线性参数化处理;然后,基于构造的Lyapunov函数设计全局渐近稳定自适应控制律,并对闭环系统的跟踪性能进行了严格的理论分析.仿真实验验证了算法的有效性.     

广义不确定系统的无脉冲鲁棒性和大范围脉冲鲁棒控制

本文研究了广义不确定系统在两种参数摄动（ 结构参数摄动和非结构参数摄动）下的无脉冲鲁棒性问题,给出了系统无脉冲鲁棒性的充分 判据.在此基础上,进一步研究了广义不确定系统在结构参数摄动下的大范围脉冲鲁棒控制 问题,在理想系统满足一定条件和系统的结构参数摄动的摄动界任意给定的情况下,提出了 该类控制器的具体设计步骤.最后,通过一个例子说明结论的可行性.