共查询到20条相似文献,搜索用时 374 毫秒
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为了提高SCARA机器人的轨迹跟踪控制性能,提出一种双模糊自适应滑模控制。采用一自适应模糊控制器,根据滑模到达条件对滑模切换增益进行估算,消除滑模控制中输出力矩的抖振现象,增强其对不确定性因素的适应能力。采用另一自适应模糊控制器对指数趋近律系数进行修正,改善由于大范围初始位姿产生的偏差而引起的大力矩和速度跳变问题。基于Lyapunov方法进行了稳定性证明,保证控制系统的稳定性与收敛性。仿真实验结果表明,该方法应用于SCARA机器人,跟踪效果良好并产生了平滑的力矩输出和速度输出。 相似文献
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The permanent magnet synchronous motors (PMSMs) may experience chaotic behaviours with systemic parameters falling into a certain area or under certain working conditions, which threaten the secure and stable operation of motor-driven. Hence, it is important to study the methods of controlling or suppressing chaos in PMSMs. In this work, the Takagi-Sugeno (T-S) fuzzy impulsive control model for PMSMs is established via the T-S modelling methodology and impulsive technology. Based on the new model, the control conditions of asymptotieal stability and exponential stability for PMSMs have been derived by the Lyapunov method. Finaily, an illustrated example is also given to show the effectiveness of the obtained results. 相似文献
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Liguang Xu 《Physics letters. A》2009,373(3):328-333
In this Letter, we are concerned with the mean square exponential stability problem of an impulsive control stochastic system with time-varying delay. By employing the formula for the variation of parameters and estimating the Cauchy matrix, several criteria on mean square exponential stability are derived and the exponential convergence rate is estimated. The obtained criteria can be applied to stabilize the unstable continuous stochastic system by utilizing impulsive control. Two examples are also discussed to illustrate the efficiency of the obtained results. 相似文献
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针对环境模拟试验温度控制系统中被控对象存在的非线性、时滞等特点,本文采用区间限幅PID控制算法和模糊PID控制算法对传统控制方法进行了改进。首先为了解决模拟量三通粗调阀调节缓慢的缺点,建立了区间限幅PID控制算法的控制规则表,并将其在PLC中实现。其次提出用模糊PID控制算法来解决电加热器的非线性、大时滞性问题,并结合实际控制经验建立了模糊控制规则表,然后将模糊PID控制算法在PLC中进行实现。最后将限幅PID和模糊PID控制算法应用于某大型环境模拟试验控制系统,实验结果表明利用改进算法对温度控制具有良好的稳定性及精确度。 相似文献
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This paper studies the exponential stabilization problem for a class of chaotic systems with delay by means of periodically intermittent control. A unified exponential stability criterion, together with its simplified versions, is established by using Lyapunov function and differential inequality techniques. A suboptimal intermittent controller is designed with respect to the general cost function under the assumption that the control period is fixed. Numerical simulations on two chaotic oscillators are presented to verify the theoretical results. 相似文献
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清水池水位控制具有时变、滞后、突发性强等特点,难以准确建立合适的数学模型,为了达到快速维持清水池水位在期望值,避免所有水泵同时启停的目的,提出了一种清水池水位模糊控制的方法,该方法借助于MATLAB软件对控制系统进行了仿真,验证了模糊控制算法在清水池水位控制系统中应用的合理性,并计算出模糊输出控制量表,为确定水泵启停台数提供指导。采用了S7-200 PLC控制器和MCGS组态软件实现了清水池模糊控制系统的程序设计,给出相应的模糊控制PLC程序,并应用于清水池水位控制系统中。结果表明,系统稳定性好,响应速度快,能够较好的满足控制要求。系统将模糊控制理论与实际控制相结合,满足了清水池水位控制的要求,延长了水泵使用寿命,节省电能,为清水池水位自动控制提供借鉴。 相似文献
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Israr Ahmad Muhammad Shafiq M. Mossa Al-Sawalha 《Chinese Journal of Physics (Taipei)》2018,56(3):974-987
This article introduces the global exponential multi switching combination synchronization (GEMSCS) for three different chaotic systems with known parameters in the master-slave system configuration. The proposed GEMSCS scheme establishes the global exponential stability of the synchronization error at the origin with different combinations of state variables of the two master chaotic systems with the state variables of a slave chaotic system in diverse manners. Consequently, it increases the complexity level of the information signal in secure communications. To study the GEMSCS, an efficient nonlinear control algorithm is designed. The Lyapunov direct theorem is used to accomplish the global exponential stability of the synchronization error at the origin. The stability conditions are derived analytically. To show the effectiveness and advantages of the proposed GEMSCS control approach, two numerical examples are presented. The computer based simulation results are compared with the reported works in the relevant literature. This article also extends the idea of GEMSCS to the secure communication using the chaotic masking technique. Using the GEMSCS strategy, the information signal is recovered at the receiving system with good accuracy and high speed while the parameters of the transmitter and receiver systems mismatch. At the end, some future research problems related to this work are suggested. 相似文献
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This paper presents a novel approach to hyperchaos control of
hyperchaotic systems based on impulsive control and the
Takagi--Sugeno (T--S) fuzzy model. In this study, the hyperchaotic
Lü system is exactly represented by the T--S fuzzy model and an
impulsive control framework is proposed for stabilizing the
hyperchaotic Lü system, which is also suitable for classes of
T--S fuzzy hyperchaotic systems, such as the hyperchaotic
R?ssler, Chen, Chua systems and so on. Sufficient conditions for
achieving stability in impulsive T--S fuzzy hyperchaotic
systems are derived by using Lyapunov stability theory in the form
of the linear matrix inequality, and are less conservative in
comparison with existing results. Numerical simulations are
given to demonstrate the effectiveness of the proposed method. 相似文献
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In this paper, synchronization for a class of uncertain fractional-order neural networks with external disturbances is discussed by means of adaptive fuzzy control. Fuzzy logic systems, whose inputs are chosen as synchronization errors,are employed to approximate the unknown nonlinear functions. Based on the fractional Lyapunov stability criterion, an adaptive fuzzy synchronization controller is designed, and the stability of the closed-loop system, the convergence of the synchronization error, as well as the boundedness of all signals involved can be guaranteed. To update the fuzzy parameters,fractional-order adaptations laws are proposed. Just like the stability analysis in integer-order systems, a quadratic Lyapunov function is used in this paper. Finally, simulation examples are given to show the effectiveness of the proposed method. 相似文献
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针对合成孔径雷达(SAR)清晰成像的特点,为保证雷达天线波束指向稳定,设计了某型机载雷达天线稳定平台。为了消除雷达天线稳定平台控制中存在的非线性及不确定性因素的影响,提出了一种应用于雷达天线稳定平台控制系统的模糊PID控制策略。稳定平台是依据陀螺仪所采集载机的角速度,运用反向运动补偿的原理进行工作。控制策略中,在传统PID控制的基础上引入模糊控制算法,根据跟踪误差信号动态改变PID控制器参数,改善稳定平台的控制效果,完成稳定平台控制器的优化设计。仿真结果表明,优化后的模糊PID控制算法与传统PID控制算法比较,在稳定平台转速控制方面受到的外部干扰影响更小,响应速度更快。因此,基于模糊PID控制算法的雷达天线稳定平台具有更高的稳定性能。 相似文献
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针对同时具有分布时滞和非线性项的T-S模糊时滞系统, 提出观测器型H∞输出反馈控制器设计方法. 首先, 以非线性矩阵不等式形式给出时滞相关的满足H∞性能指标的稳定性分析充分条件; 其次, 给出与所给稳定性条件等价的线性矩阵不等式条件. 在此基础上, 讨论带有非线性项的观测器型H∞输出反馈控制的可解问题. 最后, 通过仿真算例说明控制器设计方法的可行性.
关键词:
T-S模糊系统
分布时滞
观测器型输出反馈控制
H∞控制')" href="#">H∞控制 相似文献
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针对磁悬浮球系统的本质不稳定性,设计模糊PID算法实现系统的稳定控制,并使之动态性能及稳态性能满足要求;文中首先分析了磁悬浮球系统的基本原理,并进行力学分析,建立系统的数学模型,并对其中的非线性部分进行了平衡点处的线性化,而后采用用PID控制设计,PID可以实现系统的稳定控制,且控制精度较高,但对于动态性能的改善不足,且当模型中的参数改变时,PID参数的适应性较差;因此在PID参数的基础上,采用模糊PID控制,使得系统既可以满足三性要求,又可以使其具有参数变化的适应能力。 相似文献
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Li Z 《Chaos (Woodbury, N.Y.)》2008,18(2):023124
Based on the original definition of the synchronization stability, a general framework is presented for investigating the exponential stability of synchronization in asymmetrically coupled networks. By choosing an appropriate Lyapunov function, we prove that the mechanism of the exponential synchronization stability is the asymmetrical coupling matrix with diffusive condition. We deduce the second largest eigenvalue of a symmetric matrix to govern the exponential stability of synchronization in asymmetrically coupled networks. Moreover, we have given the threshold value which can guarantee that the states of the asymmetrically coupled network achieve the exponential stability of synchronization. 相似文献
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Global impulsive exponential synchronization of stochastic perturbed chaotic delayed neural networks 下载免费PDF全文
In this paper, the global impulsive exponential synchronization
problem of a class of chaotic delayed neural networks (DNNs) with
stochastic perturbation is studied. Based on the Lyapunov stability
theory, stochastic analysis approach and an efficient impulsive
delay differential inequality, some new exponential synchronization
criteria expressed in the form of the linear matrix inequality (LMI) are
derived. The designed impulsive controller not only can globally
exponentially stabilize the error dynamics in mean square, but also
can control the exponential synchronization rate. Furthermore, to
estimate the stable region of the synchronization error dynamics, a
novel optimization control algorithm is proposed, which can deal
with the minimum problem with two nonlinear terms coexisting in LMIs
effectively. Simulation results finally demonstrate the
effectiveness of the proposed method. 相似文献
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Robust lag synchronization between two different chaotic systems via dual-stage impulsive control 下载免费PDF全文
In this paper, an improved impulsive lag synchronization scheme for
different chaotic systems with parametric uncertainties is proposed.
Based on the new definition of synchronization with error bound and
a novel impulsive control scheme (the so-called dual-stage impulsive
control), some new and less conservative sufficient conditions are
established to guarantee that the error dynamics can converge to a
predetermined level, which is more reasonable and rigorous than the
existing results. In particular, some simpler and more convenient
conditions are derived by taking the same impulsive distances and
control gains. Finally, some numerical simulations for the Lorenz system
and the Chen system are given to demonstrate the effectiveness and
feasibility of the proposed method. 相似文献