具有时间变化参数和扰乱输入矩阵的完全执行系统的非对称状态调节
IEEE transactions on cybernetics
|December 24, 2025
概括
本研究介绍了一种新的,强大的适应性方法,用于控制具有复杂不确定性的完全执行系统 (FAS). 该方法实现了全球非对称的收,改善了系统状态的先前边界性结果.
科学领域:
- 控制理论 控制理论
- 系统工程 系统工程
- 机器人技术 机器人技术 机器人技术
背景情况:
- 完全启动系统 (FAS) 由于时间变化的参数和不确定性,经常面临挑战.
- 对于具有时间变化的参数的FAS现有方法通常需要可区分性,这限制了它们的适用性.
- 以前的控制策略往往实现了全局局限性,而不是状态变量的非对称趋同.
研究的目的:
- 开发一种强大的适应性控制方法,用于具有时间变化的未知参数,扰乱输入矩阵和非线性不确定性的FAS.
- 通过消除对时间变化的参数的可区分性要求,克服现有方法的局限性.
- 为了实现状态变量和参数估计的全球局限性的全球非对称的融合.
主要方法:
- 提出了一种基于变量结方法的新型,强大的自适应控制策略.
- 控制器集成了一个适应性组件用于参数补偿和一个强大的组件来处理不确定性.
- 该方法扩展到受干扰的系统,并讨论了参数选择.
主要成果:
- 提出的方法成功地处理了连续的,有界的,但不可区分的时间变化的参数.
- 实现了状态变量的全球非对称趋同,超过了之前的全球边界性结果.
- 保证了参数估计的全局局限性.
结论:
- 这种新的稳健适应方法为控制具有复杂不确定性的FAS提供了更普遍和更有效的方法.
- 该方法处理不可分化的参数的能力扩大了其实际适用性.
- 对共振电路和船舶方向系统的成功应用证明了它的有效性.
相关概念视频
01:21Linear Approximation in Time Domain
314
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
314
01:27State Space Representation
496
The frequency-domain technique, commonly used in analyzing and designing feedback control systems, is effective for linear, time-invariant systems. However, it falls short when dealing with nonlinear, time-varying, and multiple-input multiple-output systems. The time-domain or state-space approach addresses these limitations by utilizing state variables to construct simultaneous, first-order differential equations, known as state equations, for an nth-order system.
Consider an RLC circuit, a...
Consider an RLC circuit, a...
496
01:07Time-Domain Interpretation of PD Control
345
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
345
01:18Second Order systems II
367
In an underdamped second-order system, where the damping ratio ζ is between 0 and 1, a unit-step input results in a transfer function that, when transformed using the inverse Laplace method, reveals the output response. The output exhibits a damped sinusoidal oscillation, and the difference between the input and output is termed the error signal. This error signal also demonstrates damped oscillatory behavior. Eventually, as the system reaches a steady state, the error diminishes to zero.
367
01:22Multi-input and Multi-variable systems
371
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence of...
In the absence of...
371
01:26Feedback control systems
657
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
657