基于周期事件的滑动模式跟踪控制欧勒-拉格朗奇系统的动态触发.
Asifa Yesmin1, Krishanu Nath2, Manas Kumar Bera3
1Indian Institute of Technology Bombay, System and Control Engineering, Powai, Mumbai, 400076, Maharashtra, India.
ISA transactions
|December 8, 2023
概括
这项研究引入了一个强大的动态事件触发滑动模式控制扰乱欧勒-拉格朗日系统. 该方法减少了通信频率,同时确保了系统稳定性和有限的跟踪错误.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 非线性控制理论 不线性控制理论
背景情况:
- 欧勒-拉格朗日系统在机器人技术中广泛使用,但容易受到干扰.
- 传统的滑动模式控制 (SMC) 需要高通信频率,限制了实际应用.
- 事件触发控制策略旨在减少通信负载,但通常需要持续监控.
研究的目的:
- 设计一个强大的跟踪控制器,用于使用动态事件触发的滑动模式控制 (DET-SMC) 的扰乱欧勒-拉格朗日系统.
- 为了显著减少通信频率,同时保持系统的稳定性和性能.
- 制定一个实用和沟通经济控制战略.
主要方法:
- 使用辅助动态变量实施动态事件触发策略.
- 定期评估触发规则,并获得抽样期间的上限.
- 通过利亚普诺夫分析来确定闭环系统的稳定性,并得出切换收益.
- 排除Zeno行为以确保有限的抽样.
主要成果:
- 拟议的DET-SMC方案确保了跟踪错误的最终局限性.
- 通信频率显著降低,特别是在过渡期.
- 可与连续控制方法进行比较的稳定状态行为.
- 通过对双链操纵器的模拟和对单链操纵器的实验进行验证.
结论:
- 动态事件触发的滑动模式控制在扰乱的欧勒-拉格朗系统中有效地进行强大的跟踪.
- 拟议的方法提供了一种实用且资源高效的替代持续控制.
- 这种方法成功地平衡了稳定性,性能和通信负载减轻.
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