一个新的强大的离散时间积分滑动模式跟踪控制设计,用于具有未知不确定性的变时延迟MIMO系统
Sonia Ghrab1, Sofiane Ahmed Ali2, Anouar Benamor1
1Laboratory of Control, Signal and Image Processing, National School of Engineers, University of Monastir, Street Ibn El Jazzar, 5019 Monastir, Tunisia.
ISA transactions
|November 28, 2023
概括
这项研究引入了一个强大的跟踪控制不确定的MIMO系统的时间变化的延迟. 新型控制器增强了稳定性和跟踪性能,减少了诸如自动水下车辆 (AUV) 等应用程序的聊天.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 非线性动力学是一种非线性动力学.
背景情况:
- 离散时间线性不确定的多输入多输出 (MIMO) 系统在各种工程应用中很普遍.
- 这些系统经常面临挑战,包括时间变化的状态延迟,参数不确定性和匹配干扰,妨碍精确的控制.
- 强大的跟踪控制对于在这些不利条件下保持系统性能和稳定性至关重要.
研究的目的:
- 为离散时间线性不确定的MIMO系统开发一种新的,强大的跟踪控制方案.
- 为了应对时间变化的状态延迟和规范限制的参数不确定性所带来的挑战.
- 为了确保在存在干扰时的非对称稳定性和有效的跟踪性能.
主要方法:
- 设计了一个新的整体滑动面和一个切换式的触角.
- 使用线性矩阵不等式 (LMIs) 导出足够的稳定性条件.
- 使用一个合适的Lyapunov-Krasovskii功能 (LKF) 来分析系统稳定性.
主要成果:
- 拟议的控制器保证了不确定的MIMO系统的非对称稳定性.
- 尽管有时间变化的延迟和匹配/不匹配的干扰,但仍能实现有效的跟踪性能.
- 整体滑动表面消除了达到阶段,并大大减少了喋喋不休.
结论:
- 开发的强大的跟踪控制方案对离散时间线性不确定的MIMO系统有效.
- 控制器在处理时间变化的延迟和不确定性方面表现出卓越的性能.
- 在自动水下车辆 (AUV) 上成功应用和验证,用于轨迹跟踪.
更多相关视频
08:18WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
Published on: August 15, 2020
5.0K
06:45Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
Published on: October 28, 2022
1.7K
相关概念视频
01:23Linear time-invariant Systems
262
A system is linear if it displays the characteristics of homogeneity and additivity, together termed the superposition property. This principle is fundamental in all linear systems. Linear time-invariant (LTI) systems include systems with linear elements and constant parameters.
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
262
01:24BIBO stability of continuous and discrete -time systems
401
System stability is a fundamental concept in signal processing, often assessed using convolution. For a system to be considered bounded-input bounded-output (BIBO) stable, any bounded input signal must produce a bounded output signal. A bounded input signal is one where the modulus does not exceed a certain constant at any point in time.
To determine the BIBO stability, the convolution integral is utilized when a bounded continuous-time input is applied to a Linear Time-Invariant (LTI) system....
To determine the BIBO stability, the convolution integral is utilized when a bounded continuous-time input is applied to a Linear Time-Invariant (LTI) system....
401
01:10Propagation of Uncertainty from Systematic Error
529
The atomic mass of an element varies due to the relative ratio of its isotopes. A sample's relative proportion of oxygen isotopes influences its average atomic mass. For instance, if we were to measure the atomic mass of oxygen from a sample, the mass would be a weighted average of the isotopic masses of oxygen in that sample. Since a single sample is not likely to perfectly reflect the true atomic mass of oxygen for all the molecules of oxygen on Earth, the mass we obtain from this...
529
01:21Linear Approximation in Time Domain
83
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
83
01:22Multi-input and Multi-variable systems
107
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
107
00:59Propagation of Uncertainty from Random Error
699
An experiment often consists of more than a single step. In this case, measurements at each step give rise to uncertainty. Because the measurements occur in successive steps, the uncertainty in one step necessarily contributes to that in the subsequent step. As we perform statistical analysis on these types of experiments, we must learn to account for the propagation of uncertainty from one step to the next. The propagation of uncertainty depends on the type of arithmetic operation performed on...
699