共查询到19条相似文献,搜索用时 71 毫秒
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针对四旋翼无人机轨迹跟踪的容错控制问题,提出了一个鲁棒[H∞]控制和干扰观测器与故障估计器相结合的容错复合控制器的方法。在外部有界扰动和加性故障的条件下,实现对四旋翼无人机的轨迹跟踪。将四旋翼无人机非线性动态模型解耦成独立的外环位置控制系统和内环角度控制系统,引入区间矩阵对系统参数进行描述,使用干扰观测器和故障估计器进行干扰和故障的估计和补偿。然后设计一个复合控制器既能更好地抑制干扰又能保证无人机在自身存在故障的情况下平稳飞行。通过仿真证明该方法的有效性。 相似文献
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本文研究了输入饱和状态下的动力定位船故障容错鲁棒自适应控制问题.该问题以动力定位船轨迹跟踪任务为目标,提出了一种新颖的鲁棒自适应控制器的设计,并且引入了二阶快速非奇异终端滑模和神经网络控制算法保证了控制器在实际任务中的执行效果.首先,介绍了三自由度动力定位船的运动模型包括了运动学模型和动力学模型以及推进器故障模型.然后,设计了二阶快速非奇异终端滑模面,提出了一种针对时变扰动和模型不确定性的鲁棒控制方案,保证系统无抖振现象的前提下实现了系统更快的收敛速度.同时运用被动容错控制思想,确保动力定位船在推进器故障发生时依然能够实现预计的跟踪性能.此外,通过Lyapunov稳定性判据分析,证明了提出的改进自适应滑模控制方法可确保系统在初始状态未知前提下,跟踪误差渐近收敛于零.最后,通过数值仿真实验结果验证了控制律的有效性. 相似文献
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基于轨迹线性化控制(TLC)理论提出了一种全驱动平流层飞艇轨迹跟踪控制设计的新方法.该方法由期望姿态生成、运动学控制和动力学控制3部分组成.首先利用期望轨迹的Frenet标架构造期望的艇体坐标系,导出期望姿态的计算公式;然后将系统运动学部分按照移动和转动分解,动力学部分按纵向与横向分解,将整个系统划分为4个回路,并分别用TLC理论进行控制设计,避免了设计时对全系统求逆的困难;最后给出了控制方法的计算步骤和平流层飞艇跟踪典型轨迹的仿真结果,结果验证了所提出方法的可行性. 相似文献
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针对轮式机器人轨迹跟踪控制系统误差收敛速率低、精度和实时性差的问题,采用反演控制算法并结合李雅普诺夫稳定性分析方法对轮式机器人的轨迹跟踪系统进行了优化设计;建立了轮式机器人轨迹跟踪控制系统的运动学模型,并对该模型进行位置偏差分析;在反演控制算法中引入了分部虚拟控制量,并分析和设计了其他间接受控量,提高了算法运行的效率;采用李雅普诺夫收敛定理对系统的收敛性进行分析,根据分析的结果提出了算法更加简单的控制律;利用Matlab软件的Simulink库对设计的轨迹跟踪控制系统试验研究;结果表明,与基于李雅普诺夫直接法或者迭代学习算法设计的轮式机器人轨迹跟踪控制系统相比较,设计的控制系统具有跟踪精度高、收敛速度快、实时性好的优点。 相似文献
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线性多变量模型跟踪控制系统的参考模型设计* 总被引:9,自引:0,他引:9
酬谢对线性多变量模型跟踪控制系统,研究了参考模设计不当对稳态跟踪性和控制效益的不良影响;确定了参考模型的设计准则,强调参考模型应当与被控制对象的主要外在特性相一致。 相似文献
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模糊学习控制在SCARA机器人轨迹跟踪中的应用 总被引:2,自引:0,他引:2
模糊学习控制以模糊控制提供反馈机制为主体,辅以迭代学习控制提供前馈补偿机制,来实现对期望轨迹的完全跟踪.把模糊学习控制应用于SCARA机器人的轨迹跟踪.仿真试验表明,该方法具有简单实用、跟踪精度高、学习速度快等优点. 相似文献
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针对矿区道路环境突变对无人矿用卡车无人驾驶的挑战,本文研究了路面自适应模型预测轨迹跟踪控制问题.首先,根据矿区常用矿卡车型及环境突变特点分别建立矿卡动力学模型和矿区道路环境模型;其次,提出矿卡路面自适应模型预测轨迹跟踪控制框架;然后,引入预设附着系数库,提出基于自主切换策略的最小二乘参数估计方法以应对突变工况做出合理递推;最后,提出矿卡路面自适应模型预测轨迹跟踪控制方法.仿真表明,所提方法比传统自适应模型预测控制方法轨迹跟踪精度更高,可以充分考虑道路附着条件突变的矿区道路工况,自适应地保证矿卡的操纵稳定性. 相似文献
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Kuangrong Hao Chongbin Guo Yongsheng Ding 《International journal of systems science》2014,45(10):2072-2087
This paper focuses on precise fault-tolerant control for actual redundant parallel manipulator. Based on kinematic redundancy, some unnoticed influences such as mechanical clearance have been considered to design a more precise and intelligent fault-tolerant plan for actual plants. According to regulation principles in human hemostasis system, a bio-inspired intelligent integrated cooperative controller (BIICC) is developed including system structure, algorithm and step in parameter tuning. The proposed BIICC optimises partial error signal and improves control performance in each sub-channel. Moreover, the new controller transfers and disposes cooperative control signals among different sub-channels to achieve an intelligent integrated fault-tolerant system. The proposed BIICC is applied to an actual 2-DOF (degrees of freedom) redundant parallel manipulator where the feasibility of the new controller is demonstrated. The BIICC is beneficial to control precision and fault-tolerant capability of redundant plant. The improvements are more obvious in cases where extra actuators of redundant manipulator are broken. 相似文献
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The problem of controlling an induction motor without rotor speed measurements is addressed. Arbitrary smooth reference signals for rotor speed and rotor flux modulus are required to be tracked globally (i.e. from any initial condition). A global second-order tracking control is obtained, which is based on a novel rotor speed observer. Simulation results are provided which illustrate the controller performance. 相似文献
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A cart‐pendulum system is a nonlinear underactuated mechanical system with two degrees of freedom. This paper addresses the motion trajectory design and tracking control problems for this underactuated system. First, a friction‐like control law is designed for the system. Then, the characteristics of the closed‐loop control system are analyzed. Second, a new method of constructing an optimal trajectory for the system is developed. Then, a tracking control law is designed to quickly track the constructed trajectory. It guarantees that the motion control of the cart‐pendulum system is achieved along a reference trajectory. Finally, a numerical example is presented to demonstrate the effectiveness of the theoretical results. This study constructs an optimal trajectory for the cart‐pendulum system in its whole motion space and solves the motion control objective by tracking the constructed trajectory. It has many advantages compared with other motion control methods, eg, the optimal motion control objective of the system is achieved by a single control law; and the motion process and transient characteristics (eg, the settling time) of the control system can be accurately predicted. 相似文献
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This paper deals with an original micro aerial vehicle (MAV) design, the Omnicopter MAV. It has two central coaxial rotors with fixed-pitch propellers and three perimeter mounted ducted fans with servo motors performing thrust vectoring. Compared with traditional rotary wing MAVs that have inherent underactuation, the Omnicopter possesses some advantages in mobility, for example, lateral translation with zero attitude and hover with nonzero attitude. The trajectory tracking control design, global stability analysis, and control allocation are demonstrated through numerical simulation. The advantage of zero attitude translation is illustrated through experimental results. 相似文献
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为促进四旋翼无人机的飞行自主性,增强无人监管情况下飞行器主机所具备的避障行进能力,设计基于RFID技术的四旋翼无人机轨迹跟踪控制系统;采用RFID标签识别技术,调制处理既定控制信号,利用标签识别协议,连接微型四旋翼轨迹控制器与内环姿态控制器,通过数据通信链路,提取轨迹跟踪控制所需的传输电子量,完成轨迹跟踪控制系统硬件设计;利用动力系统中的参数辨识策略,确定与轨迹姿态控制相关的物理规律标注,实现四旋翼无人机轨迹跟踪控制;实验结果表明,与机器视觉型控制系统相比,基于RFID技术的控制系统的SSI避障行进指标数值相对较高,全局最大值达到了 79%,四旋翼无人机滚转角平均值为85°,能够有效抑制四旋翼无人机滚转角的数值上升趋势,增强无人监管情况下飞行器主机避障行进能力. 相似文献
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一种高精度星载点目标轨迹跟踪系统,利用拟合点目标轨迹曲线的方法将点目标位置数据简化成多项式系数的数据包,由地面测控系统发送至星上遥感器指向控制单元。指向控制单元与时间管理单元解析数据包中时间参数与系数参数,控制指向镜机构进行运动,对点目标轨迹进行自主跟踪。此方法提高了跟踪系统的跟踪精度,减轻了目标跟踪时总线通信压力。经过试验验证,系统的跟踪精度远优于传统的目标跟踪方法,可进行推广使用。 相似文献