带有摩擦非线性的CMG框架伺服系统 有限时间自适应鲁棒控制

针对控制力矩陀螺框架伺服系统中存在的摩擦非线性及不确定性等问题,提出一种基于终端滑模的有限时间自适应鲁棒控制律,确保闭环控制系统跟踪误差能够在有限时间内快速收敛到包含原点在内的任意小邻域内.通过对不确定参数的在线估计提高系统对参数变化的鲁棒性,并抑制外部干扰及摩擦非线性带来的不利影响.采用Lyapunov稳定性理论对闭环控制系统的稳定性进行分析并证明.通过对陀螺框架伺服控制系统进行仿真来验证所提出的控制律的有效性.     

考虑伺服系统增益不确定的船舶动力定位自适应有限时间控制

针对全驱动水面船舶动力定位控制问题,假设船舶模型参数摄动和外部扰动的上界已知,通过构造误差信号的非奇异终端滑模面（Non-singular terminal sliding mode,NTSM）提出了一种自适应终端滑模的控制方法.同时考虑伺服系统增益不确定问题,对未知的推力系数矩阵的倒数进行参数自适应,确保设计的控制器能使得船舶的位置及艏向角在有限时间内收敛于期望值,且能保证闭环系统实际有限时间稳定（Practical finite-time stable,PFS）.利用一艘供给船进行数值仿真研究,说明了设计的船舶动力定位自适应终端滑模控制律的有效性.     

控制力矩陀螺框架伺服系统期望补偿自适应鲁棒控制

本文针对控制力矩陀螺框架伺服系统中存在的参数不确定性、摩擦非线性及外部干扰问题,提出了一种考虑LuGre摩擦的自适应鲁棒控制方法.针对陀螺框架伺服系统未知惯量和阻尼系数、LuGre摩擦参数不确定性及未知外部干扰上界,设计参数更新律对其进行估计.在此基础上,为提高系统对不确定参数及未知干扰的鲁棒性,设计带有期望补偿的自适应鲁棒控制器,可实现对LuGre摩擦非线性的精确补偿,同时减小测量信号噪声及外部干扰对系统的不利影响.应用Lyapunov稳定性理论分析了闭环系统的稳定性.对挠性航天器姿态机动控制的仿真结果,验证了所提方法的有效性.     

基于变速趋近律的机电伺服系统自适应滑模控制

针对带有摩擦力矩、负载力矩以及扰动力矩等不确定性的机电伺服系统,提出一种基于变速趋近律的自适应滑模控制方法.首先,构造双曲正切型辅助函数并设计新的变速趋近律,用以调节滑模变量的收敛速度,使其在到达减速点之前具有较快的收敛速度,而在到达减速点以后则能有效削弱抖振.在此基础上,构造自适应滑模控制器,保证系统位置输出能够快速...     

大射电望远镜舱索伺服系统的自适应滑模控制

针对大射电望远镜馈源舱跟踪定位问题,提出一种自适应滑模控制方法．从线性化模型出发．将模型偏差、风载荷视为系统外部扰动,通过引入参数自适应机制,在线估计外部扰动并加以补偿．采用Lyapunov稳定性理论,推导了舱索系统的多输入多输出自适应滑模控制律．在此基础上,针对大射电望远镜50m缩尺模型,采用离散悬索模型和自适应滑模控制方法对舱索控制系统进行了仿真,并与传统的PID控制方法进行对比．结果表明,采用自适应滑模控制使跟踪误差减小到约32％,并提高了抗风扰能力．     

带有饱和的电机伺服系统非奇异终端滑模funnel控制

本文提出一种非奇异终端滑模funnel控制(NTSMFC)方法, 实现带有饱和输入电机伺服系统的指定性能跟踪控制. 根据中值定理, 非光滑饱和函数转化为放射形式, 并且应用一个简单的神经网络进行逼近和补偿. 为保证跟踪误差被限制在指定的界限内, 同时为避免构建复杂的barrier李雅普诺夫函数或逆函数, 本文采用一个新的限制变量. 然后, 构建非奇异终端滑模funnel控制器保证电机伺服系统的指定跟踪性能. 该方法无需事先已知输入饱和函数的界限等先验知识, 且基于李雅普诺夫函数设计可以保证位置跟踪误差的收敛性, 最后给出仿真对比实例证明了该方法的有效性.     

永磁同步电机伺服系统高精度自适应鲁棒控制

针对具有参数和负载转矩不确定性以及其它不确定项的永磁同步电机(PMSM)伺服系统,利用非线性反步法设计了自适应鲁棒控制器.在系统模型中考虑了包含建模误差和外界干扰的其它不确定项,引入了鲁棒反馈控制,可以有效减小各种不确定性对系统性能的影响,实现了PMSM伺服系统高精度的位置跟踪.理论分析证明了位置跟踪误差按指数收敛.通过仿真验证了该方法比传统的自适应反步控制具有更好的鲁棒性和控制精度.     

电液伺服系统的多滑模鲁棒自适应控制

针对一类参数与外负载非匹配不确定的非线性高阶系统,提出了一种基于逐步递推方法的多滑模鲁棒自适应控制策略.应用逐步递推的多滑模控制方法简化了高阶系统的控制问题,同时在自适应控制中加入鲁棒控制的方法,以消除不确定性对控制性能的影响.首先利用逐步递推方法与状态反馈精确线性化理论,得出确定系统的多滑模控制器设计方法;然后基于Lyapunov稳定性分析方法,给出不确定系统的参数自适应律,及鲁棒自适应控制器的设计方法.本文把该控制策略应用到电液伺服系统的位置跟踪控制中,仿真结果显示,该控制方法具有较强的鲁棒性及良好的跟踪效果.     

一类微处理机控制最优自适应转台伺服系统

针对存在干摩擦和负载转动惯量不固定的微处理机控制转台伺服系统,提出一种离散最优自适应控制综合方法.实际系统运行结果表明:用此方法综合的系统优于线性最优伺服系统.     

Adaptive robust control for four-motor driving servo system with uncertain nonlinearities

A novel adaptive robust control (ARC) is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in $L_2$ norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.     

考虑齿隙伺服系统的反步自适应模糊控制

针对具有未知参数和齿隙非线性的机电伺服系统,引入一种近似死区函数建立了系统的数学模型,给出了死区函数中参数的选取方法.用两个自适应模糊逻辑系统在线逼近机电伺服系统中的未知参数和非线性环节,从而避免了对每个未知参数推导自适应律.基于反步法设计了自适应模糊控制器,可抑制未知参数和齿隙非线性对系统性能的影响.采用Lyapunov方法证明了位置跟踪误差的指数收敛性.与PID控制方法对比的仿真实验表明,本文方法能够显著减小齿轮间传递力矩的振荡,并具有很好的控制精度和鲁棒性.     

Data-driven nonparametric model adaptive precision control for linear servo systems

Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control (NMAC) method is proposed in this paper to control the position of a linear servo system. The controller design requires no information about the structure of linear servo system, and it is based on the estimation and forecasting of the pseudo-partial derivatives (PPD) which are estimated according to the voltage input and position output of the linear motor. The characteristics and operational mechanism of the permanent magnet synchronous linear motor (PMSLM) are introduced, and the proposed nonparametric model control strategy has been compared with the classic proportional-integral-derivative (PID) control algorithm. Several real-time experiments on the motion control system incorporating a permanent magnet synchronous linear motor showed that the nonparametric model adaptive control method improved the system’s response to disturbances and its position-tracking precision, even for a nonlinear system with incompletely known dynamic characteristics.     

具有输入饱和的电液伺服位置系统自适应动态面控制

针对具有非线性、参数不确定性及输入饱和问题的电液伺服位置系统,提出了一种自适应动态面控制器的设计方法.该方法充分考虑饱和特性,利用双曲正切函数和辅助控制信号对系统非线性模型进行等价变换,进而采用动态面方法设计抗饱和控制器.设计过程中引入Nussbaum函数,以补偿输入饱和引起的非线性项.通过构造合适的Lyapunov函数,证明闭环系统的所有信号一致最终有界.仿真结果表明,所设计的控制器具有良好的跟踪效果,并有效地削弱了输入饱和对系统造成的不良影响.     

Adaptive tracking control for multiagent systems with event-triggered communication and asymmetric input saturation

In this paper, the adaptive tracking control problem is investigated for the multiagent systems with event-triggered (ET) communication and asymmetric input saturation. By adopting an auxiliary system, the problem of asymmetric input saturation is successfully handled. Two ET mechanisms are employed in the controller-to-actuator channel and communication channel respectively to economize the limited communication resources. The update frequency of the controller can be reduced by devising a novel switching ET mechanism, which can unify the three existing ET schemes. Based on a backstepping technique, a distributed ET controller is devised, which only requires the sampled value of neighboring states. Due to the discontinuity of the ET state signals, the repetitive differentiation of virtual control laws will not be computed. To solve this problem, the predesigned differentiable partial derivatives of virtual control laws are used to construct the ET virtual control laws. By applying the Lyapunov stability method, it is proved that the desired tracking performance and the stability of the closed-loop system can be guaranteed. Finally, a simulation example demonstrates that the proposed control strategy is effective.     

Adaptive prescribed performance control for switched nonlinear systems with input saturation

In this paper, an adaptive prescribed performance output-feedback control scheme is proposed for a class of switched nonlinear systems with input saturation. The MT-filters are employed to estimate the unmeasured states and the unknown functions are approximated by the radial basis function neural networks in controller design procedure. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error satisfies the prescribed performance. Finally, simulation results are given to illustrate the effectiveness of the proposed approach.     

输入有饱和的轧机液压伺服系统的多模型切换控制

针对轧机液压伺服系统随工况变化而存在的弹性负载力和外负载力跳变所引起的结构跳变问题,建立并优化了考虑控制输入饱和特性的、系统连续工作时不同工况下的轧机液压伺服系统被控对象的多模型集.对每一模型采用线性矩阵不等式(LMI)方法设计了抗饱和状态反馈控制器,并制定了整个系统的切换策略,分析了具有饱和输入和外部扰动的切换系统的...     

不确定性机器人系统自适应鲁棒迭代学习控制

利用Lyapunov方法, 提出了一种不确定性机器人系统的自适应鲁棒迭代学习控制策略, 整个系统在迭代域里是全局渐近稳定的. 所考虑的机器人系统同时包含了结构和非结构不确定性. 在设计时, 系统的不确定性被分解成可重复性和非重复性两部分, 并考虑了系统的标称模型. 在所提出的控制策略中, 自适应策略用来估算做法确定性的界, 界的修正与迭代学习控制量一样的迭代域得以实现的. 计算机仿真表明本文提出的控制策略是有效的.     

Adaptive output feedback quantised tracking control for stochastic nonstrict-feedback nonlinear systems with input saturation

This paper is concerned with the problem of adaptive output feedback quantised tracking control for a class of stochastic nonstrict-feedback nonlinear systems with asymmetric input saturation. Especially, both input and output signals are quantised by two sector-bounded quantisers. In order to solve the technical difficulties originating from asymmetric saturation nonlinearities and sector-bounded quantisation errors, some special technique, approximation-based methods and Gaussian error function-based continuous differentiable model are exploited. Meanwhile, an observer including the quantised input and output signals is designed to estimate the states. Then, a novel output feedback adaptive quantised control scheme is proposed to ensure that all signals in the closed-loop system are 4-moment (2-moment) semi-globally uniformly ultimately bounded while the output signal follows a desired reference signal. Finally, the effectiveness and applicability of the design methodology is illustrated with two simulation examples.