对具有非线性不确定性和扰乱输入矩阵的不确定的全动作系统进行强有力的控制
1Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China.
ISA transactions
|August 29, 2024
概括
本研究介绍了不确定的全动系统 (FAS) 的新型稳健控制器,放松了对输入矩阵和系统不确定性的先前假设. 新方法确保了边界状态或全局指数稳定性,在机电系统中证明了有效性.
科学领域:
- 控制系统工程 控制系统工程
- 非线性动力学是一种非线性动力学.
- 机器人技术 机器人技术 机器人技术
背景情况:
- 强有力的控制对于有不确定性的系统至关重要.
- 对于完全执行系统 (FAS) 的现有方法具有非线性不确定性和扰乱输入矩阵的局限性.
- 之前在FAS上的工作在处理某些类型的输入矩阵扰动时遇到了限制.
研究的目的:
- 为不确定的全动力系统 (FAS) 开发新的强大的控制器.
- 放松对系统不确定性和扰乱输入矩阵的现有假设.
- 在更广泛的条件下提高闭环系统的稳定性和性能.
主要方法:
- 开发了两个新型强大的控制器,用于两个不同的情况.
- 对扰动输入矩阵的假设放松,容纳更广泛的矩阵范围.
- 对一个案例的系统不确定性假设进一步放松,导致有界状态.
- 对于第二种情况,对系统非线性性施加特定要求,确保全球指数稳定性.
主要成果:
- 与以前的方法相比,拟议的控制器可以成功处理更广泛的扰乱输入矩阵类别.
- 对于第一个情况,闭环系统状态是全球界限的,并汇聚到起源周围的一个小域.
- 在第二种情况下,可以实现闭环系统的全局指数稳定性.
- 当控制器应用于机电系统时,它们的有效性得到了证明.
结论:
- 开发的强大的控制器为不确定的全动系统提供了更好的性能和更广泛的适用性.
- 放松的假设显著扩大了可以有效控制的系统范围.
- 这些方法为具有显著不确定性和输入扰动的非线性系统提供了可靠的解决方案.
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