不确定非线性系统的基于RISE的自适应式跟踪控制:一种FAS方法
1Center for Control Theory and Guidance Technology, Harbin Institute of Technology, China.
ISA transactions
|November 12, 2024
概括
本研究介绍了非线性系统的错误标志 (ARISE) 控制器的自适应性强有力的积分. 尽管存在干扰和不确定性,但它实现了非对称的跟踪性能,超过了传统方法.
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:
- 现有的全动系统 (FAS) 方法在与未测量的干扰和模型不准确性作斗争,限制了跟踪错误的性能.
- 统一的终极边界性往往是传统FAS方法可以达到的最佳性能.
研究的目的:
- 为面临干扰和不确定性的多输入多输出 (MIMO) 非线性系统制定先进的控制策略.
- 为了实现非对称的跟踪性能,超越现有的FAS方法的局限性.
主要方法:
- 整合一个完全执行系统 (FAS) 方法与一个自适应强大的错误标志积分 (ARISE) 反控制策略.
- 一个ARISE反控制器的合成,包括对增强的干扰和不确定性抑制的理想补偿.
- 开发在线可调节的反收益和使用所需轨迹的适应性前期.
主要成果:
- 拟议的ARISE控制器确保了尽管有边界干扰和参数不确定性,但仍然可以对边界所需轨迹进行非对称的跟踪.
- 在线可调节的反收益消除了对干扰极限的预先了解的需要.
- 适应性前期有效地削弱了适应性补偿和稳定性之间的相互作用.
结论:
- 开发的ARISE控制器在实现复杂非线性系统的非对称跟踪方面表现出卓越的性能.
- 在平面操纵器和自平衡机器人上的模拟和实验验证证证了控制器的有效性和可行性.
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