共查询到20条相似文献,搜索用时 31 毫秒
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Rajeev Gupta B. Bandyopadhyay A. M. Kulkarni 《International journal of systems science》2013,44(5):297-314
Power-system stabilizers (PSSs) are added to excitation systems to enhance the damping during low-frequency oscillations. In this paper, the design of robust decentralized PSS for four machines with a 10-bus system using fast-output sampling feedback is proposed. The nonlinear model of a multimachine system is linearized at different operating points, and 16 linear state space models are obtained. For all of these plants, a common stabilizing state feedback gain, F, is obtained. A robust decentralized fast-output sampling feedback gain which realizes this state feedback gain is obtained using LMI approach. This method does not require all the states of the system for feedback and is easily implementable. This robust decentralized fast-output sampling control is applied to a nonlinear plant model of several machines at different operating (equilibrium) points. This method yields encouraging results for the design of power-system stabilizers. 相似文献
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Finite time convergent control using terminal sliding mode 总被引:2,自引:0,他引:2
A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control design methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples. 相似文献
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Feng Zhao Han Yao Xiangyong Chen Jinde Cao Jianlong Qiu 《Asian journal of control》2019,21(1):397-404
This paper concerns the problem of robust H∞ sliding mode control for a class of singular stochastic nonlinear systems. Integral sliding mode control is developed to deal with this problem. Based on the integral sliding surface of the design and linear matrix inequality, a sufficient condition which guarantees the sliding mode dynamics is asymptotically mean square admissible and has a prescribed H∞ performance for a class of singular stochastic nonlinear systems is proposed. Furthermore, a sliding mode control law is synthesized such that the singular stochastic nonlinear system can be driven to the sliding surface in finite time. Finally, a numerical example is proposed to illustrate the effectiveness of the given theoretical results. 相似文献
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一种固定时间收敛模型参考终端滑模控制方法 总被引:2,自引:1,他引:1
针对一类具有模型不确定性和外部扰动的时变非线性系统, 基于模型参考控制方法, 设计了具有固定时间收敛特性的终端滑模控制器. 首先, 提出一种带有输入饱和限幅和补偿信号滤波的模型参考控制结构; 然后针对广义误差信号, 采用新型终端滑模面设计了补偿控制器, 较好地平衡靠近和远离平衡点的收敛速度. 基于李雅普诺夫方法证明了闭环系统的稳定性和固定时间收敛特性, 并给出了收敛时间上界. 最后将该方法应用到含有极限环的非线性系统跟踪控制中, 仿真结果验证了该方法的有效性. 相似文献
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Sliding mode control for uncertain nonlinear systems with multiple inputs containing sector nonlinearities and deadzones. 总被引:4,自引:0,他引:4
Kou-Cheng Hsu Wei-Yen Wang Ping-Zong Lin 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(1):374-380
In this paper, we investigate a novel robust control approach for a class of uncertain nonlinear systems with multiple inputs containing sector nonlinearities and deadzones. Sliding mode control (SMC) is suggested to design stabilizing controllers for these uncertain nonlinear systems. The controllers guarantee the global reaching condition of the sliding mode in these systems. They can work effectively for systems either with or without sector nonlinearities and deadzones in the inputs. Moreover, the controllers ensure that the system trajectories globally exponentially converge to the sliding mode. Illustrative examples are demonstrated to verify the effectiveness of the proposed sliding mode controller. 相似文献
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A. Yu. Aleksandrov A. A. Kosov 《Journal of Computer and Systems Sciences International》2009,48(4):511-520
Stability analysis methods and stabilizing controls for nonlinear nonautonomous mechanical systems are discussed. Theorems on stability of equilibrium positions in the case of essentially nonlinear positional forces are proved on the basis of decomposition of systems under study. Time estimates for transient processes are found, and the effect of nonstationary perturbations on stability of equilibrium positions is studied. The results obtained are used for solving stabilization problem for mechanical systems with regard to the structure of control forces. Situations where stabilizing controls can be constructed are determined, and the nonlinear forces that play the key role in these situations are identified. 相似文献
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Behrooz Rahmani 《International journal of systems science》2018,49(11):2427-2441
This paper proposes a discrete-time controller for robust tracking and model following of a class of nonlinear, multi-input multi-output, systems. For this purpose, a discrete-time sliding mode controller (DTSMC) is used to ensure the stability, robustness and an output tracking against the modelling uncertainties, even at relatively large sampling periods. In this way, Takagi–Sugeno (T–S) fuzzy modelling is used to decompose the nonlinear system to a set fuzzy-blended locally linearised subsystems. Implementation of the second Lyapunov theory for mismatched uncertain nonlinear T–S fuzzy models results in a set of linear matrix inequalities, which is used to design the sliding surface. A new method is then proposed to reach the quasi-sliding mode and stay thereafter. Simulation studies show that the proposed method guarantees the stability of closed-loop system and achieves small tracking error in the presence of parametric uncertainties at large sampling periods. 相似文献
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Nonsmooth finite-time stabilizing control laws have been developed for the double integrator system. The objective of this paper is to further explore the finite-time tracking control problem of a general form of uncertain second-order affine nonlinear system with the new forms of terminal sliding mode (TSM). Discontinuous and continuous finite-time controllers are also developed respectively without the singularity problem. Complete robustness can be acquired with the former, and enhanced robustness compared with the conventional boundary layer method can be expressed as explicit bounded function with the latter. Simulation results on the stabilizing and tracking problems are presented to demonstrate the effectiveness of the control algorithms. 相似文献
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Nonsmooth finite-time stabilizing control laws have been developed
for the double integrator system. The objective of this paper is to
further explore the finite-time tracking control problem of a
general form of uncertain second-order affine nonlinear system with
the new forms of terminal sliding mode (TSM). Discontinuous and
continuous finite-time controllers are also developed respectively
without the singularity problem. Complete robustness can be acquired
with the former, and enhanced robustness compared with the
conventional boundary layer method can be expressed as explicit
bounded function with the latter. Simulation results on the
stabilizing and tracking problems are presented to demonstrate the
effectiveness of the control algorithms. 相似文献
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Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative (PID) methods, where the tuning of gains is difficult and time-consuming, and performance is not guaranteed. In this paper, we develop a rigorous method based on the sliding mode analysis and nonlinear backstepping to design a PID controller with guaranteed performance. This technique provides the structure and gains for the PID controller, such that a robust and fast response of the UAV (unmanned aerial vehicle) for trajectory tracking is achieved. First, the second-order sliding variable errors are used in a rigorous nonlinear backstepping design to obtain guaranteed performance for the nonlinear UAV dynamics. Then, using a small angle approximation and rigorous geometric manipulations, this nonlinear design is converted into a PID controller whose structure is naturally determined through the backstepping procedure. PID gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error dynamics. We prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer backstepping tracker loop by inverse kinematics, which provides a seamless connection with existing built-in UAV attitude controllers. We implement the proposed method on actual UAV, and experimental flight tests prove the validity of these algorithms. It is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique. 相似文献
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Saleh Mobayen Fairouz Tchier Lakhdar Ragoub 《International journal of systems science》2017,48(9):1990-2002
This paper develops an adaptive super-twisting global nonlinear sliding mode control technique for n-link rigid robotic manipulators. A novel control law is designed to guarantee elimination of the reaching phase and existence of the sliding mode around the surface right from the initial time. Furthermore, the adaptive tuning law eliminates requirement of the knowledge about the upper bounds of external disturbances. By using the proposed method, a robust controller is designed so that the tracking error of rigid manipulator is convergent to the global nonlinear sliding surface in a finite time, and strong robustness with respect to large uncertainties and disturbances is guaranteed. Illustrative simulations on a two-link elbow robot manipulator and a three degree of freedom rigid manipulator are presented to show the robustness and effectiveness of the suggested design compared to other method. Moreover, a simulation as well as experimental study of a rotary inverted pendulum system demonstrates the applicability of the proposed method. 相似文献
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In this study, a novel output feedback terminal sliding mode control (TSMC) approach is proposed for a class of second order nonlinear systems in light of the equivalent output injection sliding mode observer (SMO) method and TSMC principle. The SMO method is applied to reconstruct full states in finite time and the non‐singular TSMC algorithm is designed to stabilize system states to equilibrium points in finite time. The corresponding stability analysis is presented. An indispensable illustrative example is bench tested to validate the effectiveness of the proposed approach. 相似文献
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Sufficient lyapunov-like conditions for stabilization 总被引:5,自引:0,他引:5
John Tsinias 《Mathematics of Control, Signals, and Systems (MCSS)》1989,2(4):343-357
In this paper we study the stabilizability problem for nonlinear control systems. We provide sufficient Lyapunov-like conditions
for the possibility of stabilizing a control system at an equilibrium point of its state space. The stabilizing feedback laws
are assumed to be smooth except possibly at the equilibrium point of the system. 相似文献
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Jian-Xin Xu Tong Heng Lee Leonid Fridman 《International journal of systems science》2013,44(15):983-992
In this work two main robust control strategies, the sliding mode control (SMC) and nonlinear H ∞ control, are integrated to function in a complementary manner for tracking control tasks. The SMC handles matched L ∞[0,∞) type system uncertainties with known bounding functions. H ∞ control deals with unmatched disturbances of L 2[0,∞) type where the upper-bound knowledge is not available. The new control method is designed for a class of nonlinear uncertain systems with two cascade subsystems. Nonlinear H ∞ control is applied to the first subsystem in the presence of unmatched disturbances. Through solving a Hamilton-Jacoby inequality, the nonlinear H ∞ control law for the first subsystem well defines a nonlinear switching surface. By virtue of nonlinear H ∞ control, the resulting sliding manifold in the sliding phase possesses the desired L 2 gain property and to a certain extend the optimality. Associated with the new switching surface, the SMC is applied to the second subsystem to accomplish the tracking task, and ensure the L 2 gain robustness in the reaching phase. Two illustrative examples are given to show the effectiveness of the proposed robust control scheme. 相似文献
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Many robotic systems would, in the future, be required to operate in environments that are highly unstructured (with varying dynamical properties) and active (possessing means of self-actuation). Although a significant volume of results exist in model-based, robust and adaptive control literature, many issues pertinent to the stabilization of contact interactions with unpredictable environments remain unresolved, especially in dealing with large magnitude and high frequency parametric uncertainties. The primary intent of this paper is nonlinear control synthesis for robotic operations in unstructured environments. We introduce the notion oftime constrained terminal convergence for controlled systems, and propose an approach to nonlinear control synthesis based upon a new class of sliding modes, denotedterminal sliders. Terminal controllers that enforce finite convergence to equilibrium are synthesized for an example nonlinear system (with and without parametric uncertainties). Improved performance is demonstrated through the elimination of high frequency control switching, employed previously for robustness to parametric uncertainties [2]. The dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface, rather than the magnitude of the uncertainty itself, results in improved control robustness. Improved reliability is demonstrated through the elimination ofinterpolation regions [2]. Finally, improved (guaranteed) precision is argued for through an analysis of steady state behavior.A preliminary version of this paper appeared as a JPL Engineering Memorandum # 347-90-284, Jet Propulsion Laboratory, Pasadena, CA, December 1990. 相似文献
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利用零航速减摇鳍系统实现对海洋机器人在近水面低速航行时的横摇姿态控制. 基于零航速减摇鳍的非线 性动态特性和海洋机器人横摇解耦模型, 提出具有主从结构的横摇减摇控制规律. 设计具有积分滑模面的变结构控 制规律, 估算系统期望横摇扶正力矩, 并进一步结合非线性跟踪控制理论和反馈线性化方法, 建立减摇鳍子系统模 型, 设计从属控制规律驱动减摇鳍产生实际横摇稳定力矩. 仿真结果和理论分析表明, 所设计的控制规律是稳定且有 效的.
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