规定的性能 有限-H∞ 控制灵活关节操纵器没有初始条件限制的控制
Sensors (Basel, Switzerland)
|April 12, 2025
概括
这项研究引入了灵活关节操纵器的新型耐故障控制器,克服了现有方法的局限性. 新的控制器确保了无论初始条件如何,都能提供稳健的性能,从而提高了运营能力.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 先进制造先进制造 制造先进制造
- 航空航天工程 航空航天工程
背景情况:
- 灵活关节操纵器提供优势,如轻量化设计和高灵活性,对于工业,生物医学和航空航天应用至关重要.
- 单环灵活关节操纵器 (SLFJM) 固有的灵活性带来了重大控制挑战,特别是关于初始状态限制和稳定性.
- 规定的性能控制 (PPC) 提供了改进的瞬态和稳定状态性能,但通常受到系统初始状态的限制.
研究的目的:
- 为SLFJMs开发一款新型规定的性能有限-H∞故障耐受控制器.
- 克服现有 PPC 算法的关于系统初始状态的局限性,并提高控制的稳定性.
- 确保跟踪错误的快速趋同和流的控制输入过渡.
主要方法:
- 设计了一种改进的触角类型屏障利亚普诺夫函数 (BLF),以实现初始状态独立的规定的性能.
- 实现输入控制函数 (ICF) 以减轻控制输入冲动响应,并确保顺利过渡.
- 开发一个有界的-H∞耐故障控制框架.
主要成果:
- 拟议的控制器证明了与SLFJM的初始状态的独立性,扩大了操作工作空间并提高了稳定性.
- 改进的触点型BLF可以使跟踪错误快速汇聚到零点附近的小区域.
- 模拟实验证实了拟议的规定的性能有限-H∞故障耐受控制器的有效性和稳定性.
结论:
- 开发的控制器有效地解决了SLFJM所带来的控制挑战,特别是关于初始状态依赖性和故障容忍度.
- 这种新的方法提高了灵活关节操纵器的实际适用性,通过提高其工作空间和控制强度.
- 拟议的控制器代表了灵活关节操纵器控制领域的重大进步.
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