强大的跟踪控制MIMO非线性系统与输入延迟的性能保证:一个全球和低复杂度的解决方案
IEEE transactions on cybernetics
|July 23, 2024
概括
本研究引入了对具有未知延迟的复杂非线性系统的新控制方法,实现了保证的跟踪性能. 这种方法简化了控制器,并扩大了系统的适用性,而不需要初始状态信息.
科学领域:
- 控制理论 控制理论
- 非线性系统是非线性系统.
- 机器人技术 机器人技术 机器人技术
背景情况:
- 设计用于具有未知动态和时间延迟的多输入和多输出 (MIMO) 非线性系统的控制器具有挑战性.
- 现有的方法往往需要特定的初始条件或详细的系统知识,这限制了它们的实际应用.
研究的目的:
- 为一般严格反的MIMO非线性系统开发一个全球性能保证的跟踪控制方法.
- 为了解决未知的非线性和未知的时间变化的输入延迟.
- 放松对初始值和系统知识的严格条件.
主要方法:
- 介绍了一个与Lyapunov-Krasovskii函数 (LKF) 集成的新型错误转换.
- 开发一个控制方案,以补偿未知的输入延迟和增益矩阵.
- 放松传统的可控性条件.
主要成果:
- 实现了对具有延迟输入的不确定的MIMO系统进行全球规定的性能跟踪.
- 消除了跟踪/虚拟错误和性能函数的初始值的限制.
- 设计了一个更简单,在计算上更便宜的控制器,不需要对系统非线性或轨迹导数的先验知识.
- 引入了可差分的时间变化的反术语,以处理未知的延迟和获取矩阵.
- 由于放宽可控性条件,证明了扩大适用性.
结论:
- 拟议的控制方法为复杂的非线性系统中的跟踪控制提供了强大而高效的解决方案.
- 该战略成功地处理不确定性和输入延迟,提高控制系统的可靠性.
- 该方法的宽松条件和简化结构使其适用于更广泛的应用,如机器人操纵器示例所示.
相关概念视频
01:23Linear time-invariant Systems
242
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...
242
01:26Feedback control systems
303
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
303
01:24BIBO stability of continuous and discrete -time systems
381
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....
381
01:21Linear Approximation in Time Domain
81
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,...
81
01:21Transfer Function in Control Systems
435
The transfer function is a fundamental concept in the analysis and design of linear time-invariant (LTI) systems. It offers a concise way to understand how a system responds to different inputs in the frequency domain. It serves as a bridge between the time-domain differential equations that describe system dynamics and the frequency-domain representation that facilitates easier manipulation and analysis.
To derive the transfer function, consider a general nth-order linear time-invariant...
To derive the transfer function, consider a general nth-order linear time-invariant...
435
01:22Multi-input and Multi-variable systems
105
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...
105