车载伺服系统的复合RISE控制器具有未知的建模不确定性和未知的时间变异干扰
Yiming Li1, Zhongchao Zhang1, Mingliang Bai1
1School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
ISA transactions
|February 29, 2024
概括
本研究引入了一种新的可靠控制方法,用于面临模型不确定性和干扰的车辆伺服系统. 该方法确保了准确的轨迹跟踪,尽管复杂的系统挑战.
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
- 汽车工程 汽车工程
背景情况:
- 车辆伺服系统经常面临不确定的模型和外部干扰的挑战,影响轨迹跟踪的准确性.
- 现有的控制方法可能难以同时稳定处理系统不确定性和时间变化的外部因素.
研究的目的:
- 为车辆伺服系统提出有效的轨迹跟踪控制方法,以解决系统模型的不确定性和外部时间变化的干扰.
- 提高车辆伺服系统在动态和不确定的环境中的稳定性和性能.
主要方法:
- 开发了一种新的错误标志 (RISE) 控制方法的复合坚固整体.
- 多层神经网络用于近似系统模型的不确定性.
- 扩展状态观察员用于估计系统错误和外部干扰,以补偿前.
- RISE控制器是作为一个强大的反控制器实现的,使用Lyapunov理论分析稳定性.
主要成果:
- 提出的方法有效地使用神经网络接近系统的不确定性.
- 扩展状态观察者成功地估计和补偿近错误和外部干扰.
- 实验结果表明,复合RISE控制器的性能和稳定性非常出色.
- 该方法成功地解决了车辆伺服系统轨迹跟踪中的不确定性和干扰.
结论:
- 新型复合RISE控制方法为车辆伺服系统中的轨迹跟踪提供了强大的解决方案,该系统具有模型不确定性和外部干扰.
- 神经网络和扩展状态观察者的集成提供了有效的前和反控制.
- 拟议的方法显著提高了车辆伺服系统在具有挑战性的操作条件下的可靠性和准确性.
相关概念视频
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