适应性有限时间混合紧张速度控制不确定的多段网络机器与统一的终极界限性
Van Trong Dang1, Viet Thang Dang1, Xuan Bo Nguyen1
1Hanoi University of Science and Technology, Hanoi 100000, Viet Nam.
ISA transactions
|February 14, 2026
概括
本研究介绍了多部分网络机器的自适应有限时间控制,提高了对干扰和不确定性的性能. 这种新的方法确保了稳定性和高精度,即使在未知的参数.
科学领域:
- 制造业 工程 制造工程
- 控制系统理论 控制系统理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 多部分网状机因外部干扰,参数不确定性和测量噪声而面临性能下降.
- 有效的控制设计对于在苛刻的制造环境中保持运营性能至关重要.
- 现有的控制方法难以同时应对这些复杂的挑战.
研究的目的:
- 开发一种适应的有限时间混合式张力-速度控制方法,用于多部分网状机器.
- 通过减轻参数不确定性,外部干扰和测量噪音来提高机器性能.
- 为了在有限的时间内确保高精度操作和系统稳定性.
主要方法:
- 一个基于过器的扩展状态观察器 (ESO) 建议用于同时估计不确定性和干扰,同时过测量噪声.
- 动态表面控制 (DSC) 与后退和非线性低通波器相结合,用于精确的张力-速度控制.
- 集成了一个自适应机制,以消除对惯性时刻的预先知识的需求.
主要成果:
- 拟议的ESO实现了实际的有限时间稳定性,并提高了估计准确性.
- 在有限的时间内,DSC方法保证了网络机器的高精度性能.
- 利亚普诺夫分析证实了观察者和闭环系统的统一的终极边界性和明确的定位时间.
- 与最先进的方法相比,模拟显示出更高的有效性.
结论:
- 适应性有限时间混合控制策略有效地解决了多部分网络机器中的复杂干扰和不确定性.
- 开发的方法确保了强大的,高精度的控制,保证了稳定性和有限时间的融合.
- 这种方法为在具有挑战性的工业环境中控制网络机器提供了重大进步.
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