有量化输入的受干扰磁悬浮系统的鲁棒自适应渐近跟踪控制

Robust adaptive asymptotic tracking control of magnetic levitation systems with quantized input and disturbances

研究磁悬浮系统在非线性建模下的两个问题:时变有界扰动产生的系统振荡和通信网络传输导致的数据丢失.首先,借助于同胚坐标变换对磁悬浮系统不可控的高度非线性进行抑制;然后,在控制中分别利用自适应律和指数衰减项来消除外部风阻和内部噪声电压,并将指数衰减项与量化分解方法相结合弥补量化误差带来的影响.所构造的连续鲁棒自适应反馈控制器解决了有量化输入和受干扰磁悬浮系统的渐近跟踪问题.最后,用仿真结果验证了控制策略的有效性.

This paper investigates two problems in magnetic levitation systems based on nonlinear modeling:The oscillation caused by time-varying disturbance and the loss of the date when the information transmits over a communication network.Firstly,the uncontrollable nonlinearity of magnetic levitation systems is dominated by homeomorphic coordinate transformation.Then,this paper not only introduces the adaptive law and the exponential decay term to eliminate external wind resistance and internal noise voltage respectively,but also combines the exponential decay term with the quantization decomposition method to compensate for the effect of quantization error.The continuous robust adaptive feedback controller is constructed to solve the asymptotic tracking problem of magnetic levitation systems with quantized input and disturbances.Finally,the simulation results show the effectiveness of the proposed control strategy.