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考虑控制器与被控对象之间采用无线传输,且被控对象为非线性模型的一类网络控制系统,对其设计了稳定的模糊控制器。首先基于T-S模糊模型将对象线性化,并利用模糊主导子系统和主导控制规则,简化了模糊控制器的设计。其次,将闭环控制系统方程等效为与无线传输跳数相关的离散切换系统,并证明了闭环系统的稳定性。最后,通过一个仿真例子验证了文中方法的有效性。Abstract: Considering a class of networked control systems using wireless transmission between the controller and the controlled object,and with nonlinear controlled object,the stable fuzzy controller was designed.Firstly,based on T-S fuzzy model,the object was linearized.And the design of the fuzzy controller was simplified by using the fuzzy dominant subsystem and the dominant control rule.Secondly,the equation of the closed-loop control system was equal to the discrete switched system related to the hop count of the wireless transmission.Finally,a simulation example was given to demonstrate the effectiveness of the proposed method. 相似文献
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A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results. 相似文献
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Guangdeng ZONG Yuqiang WU Lihua ZHANG Institute of Automation Qufu Normal University Qufu Shandong China 《系统科学与系统工程学报(英文版)》2005,14(1):115-125
1.Introduction Variable structure control is well known for its robustness to system uncertainties and external disturbances and has been successfully applied to the rigid robotic manipulator systems(Utkin(1992),Zinober(1990)).Generally,a linear sliding mode is firstly designed to describe the desired system error dynamics,a robust controller drives the switching plane variables to reach the sliding mode,and the error dynamics will asymptotically converge to zero on the linear sliding mode.Si… 相似文献
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This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the singularity of the traditional fast terminal sliding manifold, a novel fast terminal sliding manifold is given. And then, based on the adaptive control method, a continuous robust coordinated controller is designed to compensate external disturbances and to alleviate the chattering phenomenon. The theoretical analysis shows that the coordinated controller can guarantee the finite-time stability of the overall closed-loop system through local information exchange, and numerical simulations also demonstrate its effectiveness. 相似文献
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一种新的趋近律离散滑模控制方法及仿真 总被引:2,自引:0,他引:2
利用幂次函数构造了一种新的趋近律离散滑模控制方法,给出了无抖振的理论分析和稳定性证明。在具有传统滑模控制固有强鲁棒性的同时,该方法可以使切换函数无抖振、无正负交替的快速趋近于零。利用倒立摆模型进行了数值仿真,结果表明,该方法控制器的输出、切换函数的值、被控系统的输出均不存在抖振现象,而且被控系统表现出了良好的动态品质。Abstract: A new algorithm of the reaching-law discrete-time sliding mode control was designed by using power function.Theory analysis about non-chattering and probative process of stability was given.This algorithm can retain the better robustness of the common discrete-time sliding mode control,at the same time this algorithm can make the value of switch function reach zero speedily.There is no chattering and positive-negative alternation in this process.Numerical value simulation was given by using inverted pendulum model.Simulation results state that there is no chattering hundred-percent in the output of controller,value of switch function,and the output of the controlled system.This algorithm also makes the controlled system achieve excellent dynamic performance. 相似文献
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以提高汽车行驶平顺性和操纵稳定性为出发点,建立了汽车ASS与EPS的整车动力学模型,提出了一种汽车ASS与EPS集成控制的方法。分别设计了ASS子系统模糊控制器与EPS子系统模糊控制器,利用分层协调控制思想建立了上层协调控制器,对两个子系统进行协调控制。仿真结果表明:采用分层协调控制策略控制的ASS与EPS集成系统可使车身垂直加速度、车身俯仰角、横摆角速度、车身侧倾角等性能参数得到优化,汽车行驶平顺性和操纵稳定性有明显改善,提高了整车综合性能。Abstract: Vehicle dynamics model of ASS and EPS was built.A coordination control method of vehicle ASS and EPS was presented to improve vehicle ride performance and handling stability.ASS controller and EPS controller were designed separately.The controller of ASS was designed using fuzzy logic control theory and the EPS system was designed using fuzzy logic control theory too.In order to coordinate the two subsystems,an upper coordination controller was set up based on an idea of delaminating control.The simulation results show that layered coordination control strategy can optimize the vehicle performance parameters and the vehicle integrated performance is improved obviously. 相似文献
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针对汽车液压制动系统中轮缸压力传感器的故障重构问题,建立了汽车液压制动系统的轮缸压力非线性模型。在此基础上,给出了一种基于滑模观测器的轮缸压力传感器故障重构方法,并将滑模观测器的设计问题转化为LMI求解问题。最后对轮缸压力传感器断路故障进行了仿真研究,讨论了不同增益对故障估计的影响。Abstract: A fault reconstruction scheme based on the sliding mode observer was proposed for the fault reconstruction of the wheel cylinder pressure sensor in the vehicle hydraulic braking system, as well as a nonlinearity model of the wheel cylinder in the hydraulic braking system. Furthermore, the design of the sliding-mode observer was converted to the solving of the LMI. In conclusion, the wheel cylinder pressure sensor open circuit fault simulation experiment and the influence on fault estimation over the different gain were proposed. 相似文献
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A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle(UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, n... 相似文献
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The purpose of this paper is the design of neural network-based adaptive sliding mode controller for uncertain unknown nonlinear systems. A special architecture adaptive neural network, with hyperbolic tangent activation functions, is used to emulate the equivalent and switching control terms of the classic sliding mode control (SMC). Lyapunov stability theory is used to guarantee a uniform ultimate boundedness property for the tracking error, as well as of all other signals in the closed loop. In addition to keeping the stability and robustness properties of the SMC, the neural network-based adaptive sliding mode controller exhibits perfect rejection of faults arising during the system operating. Simulation studies are used to illustrate and clarify the theoretical results. 相似文献
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对一类串级不确定非线性系统提出了一种基于SDRE控制的最优滑模控制方法。该方法采用两环控制结构,外环控制器的设计采用基于依赖状态的Riccati方程最优控制,用以产生最优滑模面。内环控制器设计采用滑动模控制以减小控制系统对参数变化、模型误差、外部干扰的敏感。同时提出了两种求解依赖于状态的Riccati方程的方法,所设计的最优滑模控制器能使串级不确定系统具有鲁棒稳定性。最后通过一个仿真算例,验证了该控制方法的有效性。 相似文献
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针对3-RRRT型搬运机器人提出一种解耦的反演自适应动态滑模控制方法,以提高控制精度和鲁棒稳定性。首先利用非线性补偿方法将系统解耦成线性系统,运用一阶动态滑模设计新的滑模面,然后利用基于李亚普诺夫函数的Backstepping控制设计方法和自适应控制技术,设计了全局渐近稳定的系统控制器,最后利用MATLAB进行了系统控制数值仿真,结果表明,对3-RRRT型并联机器人的这种强耦合的、具有不确定性的非线性系统,采用该解耦的反演自适应动态滑模控制方法,可以达到理想的控制精度,并能保障系统的鲁棒稳定性。 相似文献
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基于网络拥塞控制有效的主动队列管理算法(AQM),设计了一种鲁棒的离散滑模控制器(DSMC).针对实际网络中离散化的采样系统和定期更新等运行特点,将TCP动态拥塞窗口模型离散化,考虑该模型存在的网络延迟及流量扰动等参数不确定等特点,采用鲁棒性较好的滑模控制器.在控制器的设计中,构造了包含起始点滑模面,缩短到达时间;假设不确定扰动的最大上界,采用等效控制设计控制律;然后给出了系统的稳定性分析.仿真结果表明该控制器能够获得较快的响应速度和稳定的队列长度,在网络参数变化时仍能获得很好的鲁棒性. 相似文献
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WUZhong-qiang 《系统科学与系统工程学报(英文版)》2002,11(4):425-430
1 IntroductionNonlinear control system is the mostactive research region,butthere is little systematicaleffective way to deal with them.In the eighties of the 2 0 th century,fuzzy logic controlobtained greatdevelopment in control theory and industrial control,because the design offuzzy controller is simple and suits for many nonlinear system and has strong robustness,but less strict proof for stability.Takagi[1 ] and Sugeno put forward famous T- S fuzzydynamic system model,and raised new way… 相似文献
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陀螺稳定平台非线性摩擦的灰色滑模控制 总被引:1,自引:1,他引:0
为了减小摩擦扰动对陀螺稳定平台伺服跟踪性能的影响,设计了一种灰色滑模控制器。以某型号导引头陀螺稳定平台为实际对象,分析了系统中摩擦的非线性特性,从机械和控制两方面探讨了减小摩擦的措施。基于稳定平台的单轴控制模型,设计了滑模控制律,采用GM(1,1)灰色预测算法估计扰动量,将其作为控制律中的补偿分量,同时应用灰色预测方法对滑模控制策略进行预测输出,有效地减弱了滑模控制的抖动现象。在陀螺稳定平台上实际测试表明,该灰色滑模控制能够在无系统摩擦模型的情况下,有效减小摩擦扰动对系统控制的影响,与PID控制相比,明显提高了控制系统的鲁棒性和稳态精度。 相似文献