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Adaptive Finite‐Time Robust Control of Nonlinear Delay Hamiltonian Systems Via Lyapunov‐Krasovskii Method 
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下载免费PDF全文 This paper investigates the adaptive finite‐time robust control problem of a class of nonlinear time‐delay Hamiltonian systems via the Lyapunov‐Krasovskii (L‐K) method, and proposes some delay‐dependent results on the issue. Different from existing works, this paper first presents a time‐varying finite‐time stability (FTS) criterion via an L‐K functional approach, and obtains two FTS conditions by constructing specific L‐K functionals. Then, the adaptive finite‐time robust control problem is investigated for nonlinear time‐delay port‐controlled Hamiltonian (PCH) systems, and a control design procedure is presented. Finally, the effectiveness of the results is demonstrated by an illustrative example. 相似文献
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With the increasing industrial requirements such as bigger size object, stable operation, and complex task, multilateral teleoperation systems extended from traditional bilateral teleoperation are widely developed. In this paper, the integrated control design is developed for multilateral teleoperation systems, where n master manipulators are operated by human to remotely control n slave manipulators cooperatively handling a target object. For the first time, the control objectives of multilateral teleoperation including stability, synchronization, transparency, and internal force distribution are clarified systematically. A novel communication architecture is proposed to cope with communication delays, where the estimated environmental parameters are transmitted from the slave side to the master, to replace the traditional environmental force measurement in the communication channel. A kind of nonlinear adaptive robust control technique is used to deal with nonlinearities, unknown parameters, and modeling uncertainties existing in the master, slave, and environmental dynamics, so that the excellent tracking performance is achieved in both master and slave sides. The coordinated motion/force control is designed in the slave side by the optimal internal force distribution among n slave manipulators, and the impedance control is designed in the master side to realize the target transparency behavior. In summary, the proposed control algorithm can achieve the guaranteed robust stability, the excellent synchronization and transparency performance, and the optimal internal force distribution simultaneously for multilateral teleoperation systems under arbitrary time delays and various modeling uncertainties. The simulation is carried out on a 2‐master/2‐slave teleoperation system, and the results show the effectiveness of the proposed control design. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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This paper investigates the finite‐time robust simultaneous stabilization problem of a set of nonlinear time‐delay systems with general forms and proposes some new simultaneous stabilization results. First, by developing an equivalent form and applying augmented technique, this paper obtains an augmented equivalent form of the original systems. Secondly, based on the equivalent form, we study finite‐time simultaneous stabilization problem and present some new stabilization results by constructing some suitable Lyapunov functionals. Thirdly, using the simultaneous stabilization results obtained, this paper investigates the finite‐time robust simultaneous stabilization problem for the set systems and proposes a delay‐dependent robust simultaneous stabilization result. Finally, the study of an illustrative example shows that the results obtained by this paper work well in the finite‐time robust simultaneous stabilization the set systems. It is shown that, by using the method in this paper, the developed conditions do not contain delay terms, which can avoid solving nonlinear mixed matrix inequalities and reduce effectively computational burden in studying nonlinear time‐delay systems. 相似文献
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This note considers the problem of deriving sufficient delay‐range‐dependent stability (DRDS) condition for a general class of uncertain (or nonlinear) retarded system. The stability result is developed by proposing appropriate Lyapunov–Krasovskii functional to effectively utilize the merit of recently proposed affine Wirtinger inequality. The delay upper bound results obtained by the developed condition are found to be less conservative compared with recent results for both nominal and uncertain systems. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
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针对一类具有未知参数、未建模动态和外界干扰的不确定非线性系统,选择适当的参数对这些不确定性进行估值、补偿和模型参考,利用Backstepping方法,设计了一种新的鲁棒自适应控制器。该控制器能保证闭环系统的所有信号是全局有界的,跟踪误差收敛到一个小的残差集内。仿真结果表明该方法的有效性。 相似文献
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This article designs an adaptive event‐triggered controller to solve the problem of global finite‐time stabilization for a class of uncertain nonlinear systems. By using the symbol function technique, the event‐triggered error is completely compensated, the adaptive technique and the back‐stepping method are simultaneously applied to the controller design, and the new way of designing controller is completed on the basis of fast finite‐time stability theory. Subsequently, taking Lyapunov stability theorem into account, the system stability is proved, and the system is demonstrated by contradiction to be non‐zeno. Finally, giving a simulation example to display the feasibility of this method. 相似文献
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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. 相似文献
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针对不确定非线性二阶多智能体系统中存在的时变通信时延和未知干扰问题,提出了一种鲁棒自适应蜂拥控制规律。为了使二阶多智能体系统能够具有更好的抗干扰能力,设计了基于智能体位置状态信息和速度状态信息的鲁棒自适应算子,实现了系统在时变通信时延扰动下的分布控制。通过使用Lyapunov-Krasovskii方法构造能量函数,证明了多智能体系统的网络连通性,智能体的速度收敛于虚拟领导者的速度,并给出了具有时变通信时延的多智能体系统收敛条件。仿真实验结果表明,在不同干扰强度和不同通信时延下系统均能实现快速收敛,形成稳定的拓扑结构,证明所提方法正确有效。 相似文献
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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
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This paper presents the design of a robust control law for a class of nonlinear dynamical systems subjected to parametric uncertainty and simultaneous unknown, variable state and input delays. A novel controller is developed, which consists of a filtered tracking error and the integral of previous values of control input where the limits of integration are dependent on the known bound of the input delay. Lyapunov‐Krasovskii functionals–based stability analysis guarantees a global uniformly ultimately bounded tracking result where sufficient conditions on controller gains and maximum allowable delay are derived. The performance and robustness of the controller are evaluated by simulation on a two‐link robot manipulator for different combinations of time‐varying state and input delays. 相似文献
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In this paper, robust adaptive control is presented for a class of perturbed strict‐feedback nonlinear systems with both completely unknown control coefficients and parametric uncertainties. The proposed design method does not require the a priori knowledge of the signs of the unknown control coefficients. For the first time, the key technical Lemma is proven when the Nussbaum function is chosen by N(ζ)=ζ2cos(ζ), based on which the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed‐loop system signals. Simulation results show the validity of the proposed scheme. Copyright © 2008 John Wiley & Sons, Ltd. 相似文献
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In this paper, an efficient finite difference method is presented for the solution of time‐delay optimal control problems with time‐varying delay in the state. By using the Pontryagin's maximum principle, the original time‐delay optimal control problem is first transformed into a system of coupled two‐point boundary value problems involving both delay and advance terms. Then the derived system is converted into a system of linear algebraic equations by using a second‐order finite difference formula and a Hermite interpolation polynomial for the first‐order derivatives and delay terms, respectively. The convergence analysis of the proposed approach is provided. The new scheme is also successful for the optimal control of time‐delay systems affected by external persistent disturbances. Numerical examples are included to demonstrate the validity and applicability of the new technique. Some comparative results are included to illustrate the effectiveness of the proposed method. 相似文献
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电机驱动机械人手臂的鲁棒自适应控制 总被引：1，自引：0，他引：1
针对电机驱动机械手的工作环境复杂负栽变动大难控制的问题,提出一种机械手的鲁棒自适应控制方法.通过代数运算将机器人手臂模型变换为线性误差系统加未知干扰的形式.设计误差系统的积分滤波器,通过合理地选择滤波器参数,可使滤波器输出渐近收敛到零.同时由滤波器可得到理想电流和干扰的更新估计.以理想电流为目标设计电机的控制律.基于Lyapunov稳定理论分析了该方法的稳定性,给出了稳定性充分条件.实例仿真结果表明该方法有效. 相似文献
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This paper is concerned with an adaptive tracking problem for a more general class of switched nonstrict‐feedback nonlinear time‐delay systems in the presence of quantized input. The system structure in a nonstrict‐feedback form, the discrete and distributed time‐varying delays, the sector‐bounded quantized input, and arbitrary switching behavior are involved in the considered systems. In particular, to overcome the difficulties from the distributed time‐varying delays and the sector‐bounded quantized input, the mean‐value theorem for integrals and some special techniques are exploited respectively. Moreover, by combining the Lyapunov‐Razumikhin method, dynamic surface control technique, fuzzy logic systems approximation, and variable separation technique, a quadratic common Lyapunov function is easily built for all subsystems and a common adaptive quantized control scheme containing only 1 adaptive parameter is proposed. It is shown that the tracking error converges to an adjustable neighborhood of the origin whereas all signals of the closed‐loop systems are semiglobally uniformly ultimately bounded. Finally, 2 simulation examples are provided to verify the feasibility and effectiveness of the proposed design methodology. 相似文献
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The longitudinal dynamics of hypersonic flight vehicles involves strong nonlinearity and coupling, uncertainties including parametric uncertainties, unmodeled uncertainties, external disturbances, and time‐varying input and state time delays. In this paper, a robust controller design method is proposed for the longitudinal stabilization of these vehicles by the signal‐compensation‐based control idea. Theoretical analysis is given to prove the robustness properties of the designed closed‐loop control system subject to multiple time‐varying uncertainties and time‐varying input and state delays. Simulation results are performed to show the validness and advantages of the proposed robust control approach. 相似文献
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研究一类具有状态时滞的内联不确定性动态大系统的分散鲁棒H∞控制问题.系统的不确定性参数满足范数有界条件.得到了由无记忆状态反馈分散控制器使每一个子系统和整个大系统都可镇定且满足给定H∞性能的充分条件.所得结果与系统时滞的大小有关,并以线性矩阵不等式的形式给出. 相似文献
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The control direction is the multiplier of the control term. In this study, the control direction is considered as an unknown function of state and allowed to cross zero and change its sign smoothly. Based on the analysis of system dynamics at the points where the control direction is zero, a robust controller is proposed by integrating with a bounding function and a Nussbaum‐type gain. Under the proposed controller, the system approaches zero if zero is accessible, or to the accessible point closest to zero if zero is not accessible by any control. The control performance is illustrated by simulated examples. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献