共查询到18条相似文献,搜索用时 103 毫秒
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一种镇定倒立摆系统的新方法 总被引:3,自引:0,他引:3
在对倒立摆系统深入分析的基础上,应用振荡控制理论提出一种镇定倒立摆系统的新方法。通过在倒上摆支承点的垂直方向上加入一个零均值的高频振荡信号,改善了倒立摆系统本身的稳定性,使其在倒立位置附近成为一振荡稳定系统。理论分析和仿真研究表明这种方法是行之有效的,为研究倒立摆一类自不稳定系统开辟了一条新的途径。 相似文献
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本文研究了多重单输入系统的同时状态反馈镇定问题,证明了r 1个单输入系统的同时镇空问题等价于r个系统用一个Hurwitz反馈向量同时镇定的问题,并对2个系统的情况给出了一个设计的例子。 相似文献
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一种线性不确定系统状态反馈镇定控制器的设计方法 总被引:10,自引:0,他引:10
讨论线性不确定系统的镇定问题,得出了相应的状态反馈律的设计方法。该系统的参数不确定性是结构性的且值有界,其不确定性的描述更具实际意义。在不稳定性存在的情况下,所设计的控制器与Mehdi提出的控制器同样具有某种最优性,且其保守性低于文献〖1〗给出的结果。 相似文献
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切换控制在倒立摆系统摆起和镇定中的应用 总被引:2,自引:0,他引:2
本文针对一级直线型倒立摆对象,基于非线性共振原理和线性二次型最优状态反馈控制,提出了一种基于状态的切换控制策略,实现了倒立摆的快速摆起和镇定。最后通过仿真实验表明,本文提出的方法对一级直线型倒立摆系统的摆起和镇定具有较好效果。 相似文献
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针对一类具有输入时滞的随机前馈非线性系统, 首次研究了它的状态反馈镇定问题. 首先引入一个变量变换, 将其与齐次占优方法巧妙结合, 通过构造合适的 Lyapunov-Krasovskii 泛函, 设计了一个状态反馈控制器, 使得闭环系统的平衡点依概率全局渐近稳定. 相似文献
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一种基于鲁棒性设计的一阶倒立摆双闭环控制方法 总被引:1,自引:0,他引:1
本文在利用牛顿运动定律建立起一阶倒立摆数学模型的基础上.对精确模型进行了工作点附近的线性化与降阶处理;以摆角为内环、小车位移为外环.利用鲁棒控制理论设计出确定参数(摆长L和摆杆质量m)下的内、外环PD控制器;数字仿真实验证明了该方法的有效性。 相似文献
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We develop a constructive decentralized control design procedure for a class of systems that may be loosely described as chained integrators which are dynamically coupled. The design method is inspired by nested saturation control ideas and formulated by applying the singular perturbation theory. We demonstrate that the proposed design provides a Lyapunov function for an associated closed loop system from which semi-global stability may be deduced. Using the proposed idea, we design a semi-globally stabilizing control law for a four degree of freedom spherical inverted pendulum. 相似文献
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Jenq-Tzong H. Chan 《International journal of control》2013,86(10):759-765
Stabilization of discrete system zeros has been previously achieved by providing a fixed pattern of inter-sampling time input which deviates from zero-order-hold. However, a fixed non-ZOH input creates several problems: indefinite fluctuation of the system output which causes a deterioration in performance, highly fluctuating input which accelerates actuator fatigue, and counter-acting control which increases demand for input energy. In this work, zero placement is achieved with a temporary non-ZOH input. This temporary input pattern, which converges asymptotically toward a ZOH input pattern, removes the problems associated with a fixed non-ZOH input design. 相似文献
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一种改进的三级倒立摆变论域模糊控制器设计 总被引:2,自引:1,他引:2
在传统变论域模糊控制系统中, 论域随着输入的变化实时改变, 论域的反复调整降低了控制的实时性, 同时伸缩因子的函数结构和参数也不易确定. 基于上述问题本文设计了基于改进型变论域算法的三级倒立摆模糊控制器: 首先提出了相对变论域控制思想, 然后采用模糊逻辑推理器构造了伸缩因子, 实时调整输入变量, 从而相对性地改变论域大小, 避免了传统伸缩因子的函数结构和参数不易确定的问题, 并根据系统闭环响应曲线设计了控制
器输出调整因子. 最后采用极点配置方法对状态变量进行综合, 避免了规则爆炸问题. 三级倒立摆的仿真结果表明了该方法具有较好的控制效果. 相似文献
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Two kinds of saturated controllers are designed for a class of feedforward systems and the closed-loop resulted is locally input-to-state stable and input-to-state stable, respectively. By the word "locally", it is meant that there are restrictions on the amplitude of inputs. At first, under the guidance of suitable energy functions, two kinds of saturated controllers are designed as locally input-to-state stabilizers for a class of perturbed linear systems, from which explicit gain estimations can be obtained for the subsequent design. Then under the conditions that two subsystems of the feedforward system are respectively of locally input-to-state stability and input-to-state stability, the small gain theory is used to determine saturated degrees for corresponding robust stabilizers. The stability proofs are given by using a new characterization of input-to-state stability that is based on the concept of ultimate boundedness. As an application, saturated controllers are designed for the partial dynamics of a certain inverted pendulum. 相似文献
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Input-to-State Stabilization of Nonlinear Impulsive Delayed Systems: An Observer-Based Control Approach 下载免费PDF全文
This paper addresses the problems of input-to-state stabilization and integral input-to-state stabilization for a class of nonlinear impulsive delayed systems subject to exogenous disturbances. Since the information of plant’s states, time delays, and exogenous disturbances is often hard to be obtained, the key design challenge, which we resolve, is the construction of a state observer-based controller. For this purpose, we firstly propose a corresponding observer which is independent of time de... 相似文献
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基于拉格朗日建模的单级倒立摆起摆与稳定控制 总被引:3,自引:0,他引:3
基于拉格朗日方法建立直线一级倒立摆系统的数学模型.采用能量反馈进行倒立摆的起摆控制,在平衡点附近切换并采用现代控制理论中的状态空间极点配置以实现稳定控制.仿真和实验结果表明该方法对单级直线倒立摆系统的起摆与稳定控制具有很好的效果. 相似文献