基于主动滑模控制的混沌系统函数投影同步

研究了一类混沌系统的函数投影同步问题.基于Lyapunov稳定性理论和主动滑模控制方法,设计了主动滑模控制器,实现混沌系统的函数投影同步.数值仿真验证了该控制器的有效性和正确性.     

鲁棒自适应仿生模糊滑模控制

针对一类非线性系统,将生物个体对外界环境的适应对策弓J入滑模控制中,在模糊滑模控制的基础上提出了仿生模糊滑模控制方法.该法利用生物随外界环境变化的主动适应性来设计控制器.在实际问题中往往出现建模误差、外界干扰等不确定因素,为了补偿模糊控制器与理想控制器的误差,增加了一个鲁棒控制器.这样使系统具有更强的鲁棒性和抗扰动性,有效避免抖振和消除误差,达到理想状态.同时,利用Lyapunov稳定性理论,证明了闭环系统的全局稳定性.最后对线性系统和倒立摆系统进行了仿真,结果表明了方法的有效性和可行性.     

Sliding Mode Control of an Underactuated Two-Link Manipulator

We consider a horizontally mounted two-link manipulator of which only the first joint is actuated and the friction in the second joint is neglected. As a consequence, predefined equilibrium points are difficult to reach and point-to-point control is a challenging task. Starting from a partially feedback linearized model, a transformation to Byrnes-Isidori normal form is presented. Based on this decomposition, the projection into a two-dimensional subspace reveals certain similarities to a double integrator. Modifying an existing sliding mode approach for that system, a control law which steers the manipulator to an equilibrium point can be deduced. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

利用模糊滑模控制的非线性不确定系统模型到达控制

研究了一类非线性不确定系统的模型到达控制问题。控制机构中采用了动态补偿器和模糊滑模控制律,并且在解模糊中采用了双二次函数插值算法。模糊滑模控制的应用,抑制了抖振,保证了系统的快速性和鲁棒性,模糊数模型和双二次函数插值解模糊算法,大大减少了计算量。仿真验证了本文的方法的有效性。     

分数阶时滞微分系统的滑模控制(英文)

The problem of sliding mode control for fractional differential systems with statedelay is considered.A novel sliding surface is proposed and a controller is designed correspondingly,such that the state starting from any initial value will move toward the switching surface and reach the sliding surface in finite time and the state variables on the sliding surface will converge to equilibrium point.And the stability of the proposed control design is discussed.     

Sliding Mode Control of a Remotely Operated Underwater Vehicle with Adaptive Fuzzy Dead-Zone Compensation

Due to the great technological improvement obtained in the last decades, it became possible to use robotic vehicles for underwater exploration. During the execution of a certain task with a remotely operated underwater vehicle, the operator needs to monitor and control a number of parameters. If some of these parameters, as for instance position and attitude, could be controlled automatically, the teleoperation of the vehicle can be enormously facilitated. Based on experimental tests, it was verified that marine thrusters can exhibit dead-zone nonlinearities. This work describes the development of a variable structure control strategy for an underwater vehicle with a thrust system subject to dead-zone input. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

基于积分滑模方法的一个新型分数阶指数混沌系统的同步

研究一类分数阶新指数混沌系统的积分滑模同步,给出滑模面和控制器的设计,获得系统取得积分滑模同步的充分条件,研究表明:选择适当的控制器与滑模面,整数阶分数阶新指数混沌系统的驱动-响应系统取得积分滑模同步.     

一类非最小相位随机系统的离散自适应滑动模态控制

This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum phase system by a operator. According to the minimum phase system, the controller and the adaptive algorithm we designed ensures the stability of system and holds that the mean-square deviation from the sliding surface is minimized.     

不确定电液位置伺服系统的自适应终端滑模控制

为了解决非线性、不确定电液伺服系统的位置跟踪控制问题,提出了一种基于反步法的自适应终端滑模控制方法.该方法将自适应控制和终端滑模方法结合在一起,一方面,提出的自适应控制律可以对电液伺服系统中的不确定性参数进行有效在线估计和补偿;另一方面,通过引入误差吸引子到滑模趋近律中得到变系数趋近律,设计的终端滑模控制律不仅能够消除普通终端滑模控制律中的非奇异项,还大大降低了滑模面的抖震.最终,根据Lyapunov稳定性理论,位置跟踪误差的有限时间稳定性得以严格证明.将该方法与积分反步滑模控制和线性滑模控制方法进行了对比研究,仿真结果验证了该方法在电液伺服系统位置跟踪控制方面良好的鲁棒性和跟踪精度.     

具有时滞和参数不确定性的网络系统的滑模控制

研究了一类具有时滞的不确定网络控制系统(NCS)的滑模控制.首先,用一种特殊的变换将不确定时滞系统化为非延迟不确定系统形式.然后基于Lyapunov稳定性理论及线性矩阵不等式(LMI)技术,以线性矩阵不等式的形式给出了该系统的一些新的稳定性判据.所提出的控制器能够使具有不确定性的时滞系统渐近稳定性,而且控制器结构简单,计算方便.最后通过数值模拟,验证了所设计方法的有效性.     

分数阶复杂网络系统的滑模终端控制混沌同步

研究了两类复杂网络混沌系统的终端滑模控制问题,基于分数阶微积分,设计了分数阶非奇异终端滑模面和控制器,给出了严格的数学推理和证明过程,研究表明:适当的控制律下两类复杂网络混沌系统是终端滑模同步的.最后的仿真算例说明方法有效.     

Decentralized Output Feedback Sliding Mode Control of Nonlinear Large-Scale Systems with Uncertainties

In this paper, a class of nonlinear large-scale interconnected systems with mismatched uncertainties is considered. Based on sliding mode control ideas, a kind of decentralized robust control scheme using only output information is presented to stabilize the system. The approach allows more general uncertain interconnections than all of the associated existing work and better robustness is achieved. Compared with existing decentralized output feedback schemes, it is unnecessary to solve Lyapunov equations and the so-called strict structural condition is avoided. Also, it is not necessary that the nominal subsystem is output feedback stabilizable. Finally, a simulation example is presented to illustrate the effectiveness of the results.     

一类分数阶超混沌系统修正函数投影同步的滑模控制

对一类具有未知参数的分数阶超混沌系统的修正函数投影同步进行研究.通过设计响应系统的补偿器,进而得到修正函数投影同步的误差系统.基于自适应滑模控制理论和分数阶微分系统的稳定性理论,设计了一种自适应同步的控制方案.通过选取自适应滑模控制器以及参数自适应控制率,最终实现了驱动系统和响应系统修正函数投影同步,并可以对不确定参数进行估计.最后针对结论,以分数阶超混沌L(u|¨)系统为例,利用Adams-Bashfortlh-Moultom算法进行数值仿真,其结果说明了该方法的有效性和可行性.     

采用模糊滑模变结构方案控制Chua混沌系统

基于模糊动态模型 ,研究了 Chua混沌系统的稳定控制问题 .将非线性混沌系统模糊化为局部线性模型 .用 Lyapunov稳定性理论设计出 ,确保模糊动态模型全局渐近稳定的变结构控制器 .仿真验证了方案的有效性 .模糊控制器简单 ,规则少 .     

非线性系统的一种模糊滑模变结构控制方案

基于HM模型对非线性系统进行描述，采用Lyapunov方法设计出确保系统全局渐近稳定的滑模变结构控制器。对满足匹配条件和不满足匹配条件的情况均适用。并用一级倒立摆系统进行仿真验证。成功的将变结构控制应用于非线性控制系统中。     

具有外部扰动的空间刚性机械臂姿态与末端爪手协调运动的Terminal滑模控制算法设计

讨论了载体位置无控、姿态受控情况下,具有外部扰动的漂浮基空间刚性机械臂,载体姿态与末端爪手协调运动的控制算法设计问题．结合系统动量守恒关系及Lagrange方法,建立了漂浮基空间刚性机械臂完全能控形式的系统动力学方程及运动Jacobi关系,并将其转化为状态空间形式的系统控制方程．以此为基础,根据Terminal滑模控制技术,给出了系统相关Terminal滑模面的数学表达式,在此基础上提出了具有外部扰动情况下漂浮基空间刚性机械臂载体姿态与末端爪手协调运动的Terminal滑模控制方案．提出的控制方案不但确保了闭环系统滑模阶段的存在性,同时通过Terminal滑模函数的适当选取,还保证了输出误差在有限时间内的收敛性．此外,由于确保了无论何种情况下系统初始状态均在Terminal滑模面上,从而消除了其它滑模控制方法常有的到达阶段,使得闭环系统具有全局鲁棒性和稳定性．平面两杆空间刚性机械臂的系统数值仿真,证实了方法的有效性．     

Optimal Sliding Mode Robust Control for Fractional-Order Systems with Application to Permanent Magnet Synchronous Motor Tracking Control

This paper presents an optimal sliding mode output tracking control scheme for a class of fractional-order uncertain systems. Firstly, an augmented fractional-order system, composed of the original system and the external system, is constructed to transform the optimal output tracking issue into the design problem of linear quadratic regulator. The optimal tracking control problem for the nominal augmented fractional-order system is then studied. Secondly, the fractional-integral sliding mode controller is introduced to robustify the augmented fractional-order system, which satisfy the matching conditions. As a result, the original system output can track the external system output trajectory effectively even the uncertainties exist. Finally, the developed design techniques are applied to the tracking control of fractional-order permanent magnet synchronous motor. The simulation results demonstrate the validity of this approach.     

Adaptive Fuzzy Sliding Mode Controller and Observer for a Dive Cell

We present an adaptive fuzzy sliding mode control strategy in combination with a sliding mode observer for a dive cell. Numerical results demonstrate the outperformance of the presented controller compared to a conventional sliding mode approach. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Suboptimal Integral Sliding Mode Controller Design for a Class of Affine Systems

This paper proposes an nth-order suboptimal integral sliding mode controller for a class of nonlinear affine systems. First, a general form of integral sliding mode is given. An extended Theta-D method is developed for the optimal control problems characterized by a quadratic cost function with a cross term. Then the extended Theta-D method is employed to determine a suboptimal integral sliding mode. Rigorous proof shows that the controller guarantees semi-global asymptotical stability of affine systems. To verify the accuracy of the extended Theta-D method, a numerical example is provided. To verify the effectiveness of the proposed suboptimal integral sliding mode controller, a numerical example and an application example of an overhead crane system are provided.     

分数阶Nadolschi系统的有限时间滑模同步

研究了分数阶Nadolschi系统的有限时间滑模同步控制问题,基于Lyapunov稳定性理论给出了系统取得滑模同步的两个充分性条件,研究表明选取适当的切换函数和控制器下,系统取得有限时间滑模同步.