具有输入死区和执行器故障的旋转体束系统的自适应式容错边界控制
IEEE transactions on cybernetics
|October 7, 2025
概括
本研究介绍了面临干扰和执行器问题的旋转体束系统 (RBBS) 的自适应边界控制. 开发的控制策略有效地减轻振动,调节旋转速度,显示出强度.
科学领域:
- 机械工程 机械工程
- 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
背景情况:
- 旋转体束系统 (RBBS) 在各种工程应用中至关重要,包括机器人和航空航天.
- 这些系统经常遇到复杂的动态,包括未知的干扰,参数不确定性和执行器非线性,如死区和故障.
- 有效的控制策略是必要的,以确保RBBS的稳定性,性能和精确运行.
研究的目的:
- 为旋转式车身光束系统 (RBBS) 开发一种适应性边界控制策略.
- 为了应对未知的干扰,参数不确定性,死亡区域非线性和执行器故障所带来的挑战.
- 为了实现同时减轻光束的振动和调节磁盘的旋转速度.
主要方法:
- 对RBBS的数学建模,包括死亡区非线性和执行器故障.
- 适应性边界控制规律和参数补偿策略的设计.
- 使用利亚普诺夫直接方法进行稳定性分析和边界性证明.
主要成果:
- 成功地将截止区非线性和执行器故障集成到统一的控制框架中.
- 开发适应性控制和参数补偿法,以管理系统的不确定性.
- 通过利亚普诺夫稳定性分析证明了状态变量的最终边界性和统一调节.
- 通过数值模拟验证控制器的有效性和稳定性.
结论:
- 拟议的自适应边界控制方案有效地管理RBBS中的复杂动态,包括干扰和执行器非线性.
- 控制策略确保了系统的稳定性,并实现了所需的性能目标,例如减轻振动和调节速度.
- 控制器表现出对不确定性和故障的稳定性,使其适合实际应用.
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