控制不确定的高阶完全执行的严格反系统:一种以高收益观测器为基础的衍生式近似方法的倒退方法
IEEE transactions on cybernetics
|September 10, 2024
概括
本研究引入了一种新的基于观察者的高收益后退方法,以简化复杂控制系统中的衍生式近似. 新方法减少了调参数,提高了系统稳定性和跟踪精度.
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
- 非线性控制理论 不线性控制理论
背景情况:
- 对于严格反系统的后退控制,由于虚拟控制信号的重复差异化,面临着"复杂性爆炸".
- 现有的方法,如命令过后退和动态表面控制,需要调整许多参数,使实现复杂化.
- 虚拟控制衍生品的有效近似对于高阶系统的稳定性和性能至关重要.
研究的目的:
- 为二级和高级严格反系统提出一个简化的高级基于HGO的后退 (HOHGOB) 方案.
- 通过近似虚拟控制衍生来解决"复杂性爆炸"问题.
- 与现有的先进控制技术相比,减少可调节参数的数量.
主要方法:
- 开发基于高增益观察器 (HGO) 的差分器来估计虚拟控制衍生品.
- 将HGO区分器集成到一个称为HOHGOB的高阶后退框架中.
- 严格的数学分析,以建立闭环系统状态的统一的最终边界性.
- 控制器的设计确保任意小的输出跟踪错误.
主要成果:
- HOHGOB 方案有效地接近只有一个可调节参数 (观察者收益) 的衍生品.
- 导数估计误差随着观察者收益的增加趋于零.
- 封闭循环系统状态的统一终极局限性已被严格证明.
- 可以实现任意小的输出跟踪错误.
结论:
- 拟议的HOHGOB方案为严格的反系统提供了一个更简单,更有效的方法来进行后退控制.
- 该方法提高了衍生品近似性能,并降低了实现的复杂性.
- 通过单链机器人臂示例验证,证明其实际适用性和有效性.
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