非線形システムにおける未知の入力遅延のための推定器ベースの二次スライディングモード制御設計
IEEE transactions on cybernetics
|August 26, 2025
まとめ
この研究は,未知の入力遅延と不確実性を持つ非線形システムのための新しい二次スライディングモード (SOSM) コントローラーを導入します. 新しいコントローラは,シミュレーションで既存の方法を上回って,安定性と性能を向上させます.
科学分野:
- 制御システム工学
- 非線形システムダイナミクス
- ロボット工学と自動化
背景:
- スライディングモードコントローラ (SMC) は非線形システムでは有効ですが,入力遅延と不確実性で苦労します.
- 既存の二次スライディングモード (SOSM) コントローラーは,未知の入力遅延と機能限定の不確実性を処理する上で課題に直面しています.
- SMCの断続的な性質は,遅延補償メカニズムを統合することを困難にする.
研究 の 目的:
- 未知の入力遅延を持つ不確実な非線形システムのための推定器ベースの二次スライディングモード (SOSM) コントローラを開発する.
- 未知の入力遅延と機能限定の不確実性に対処する既存のSOSM方法の限界に対処する.
- クローズド・ループ制御システムの定時安定性を確保する.
主な方法:
- 入力遅延と不確実性を含む確立されたSOSMダイナミクス.
- 補助補償システムとコンベックス最適化ベースの入力遅延推定器を導入しました.
- パワー・インテグレーター技術を用いた新しい推定器ベースのSOSMコントローラを設計し,ライアプノフ分析で安定性を検証した.
主要な成果:
- 断続的なコントローラと互換性のある入力遅延推定器を成功裏に設計しました.
- 未知の入力遅延を効果的に補償する新しいSOSMコントローラを開発しました.
- 厳格なリヤプノフ分析によって 閉ループシステムの定時安定性を証明した.
- 比較シミュレーションにより,提案されたSOSMコントローラの優れた性能が確認されました.
結論:
- 提案された推定器ベースのSOSMコントローラーは,未知の入力遅延を持つ不確実な非線形システムを効果的に処理します.
- この新しいアプローチは,堅固な制御を提供し,限られた時間の安定性を保証します.
- この方法は,複雑なシステムの既存のSOSM制御戦略に比べて,かなり進歩しています.
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