期刊文献+
共找到8篇文章
< 1 >
每页显示 20 50 100
Design of Robust-Adaptive Controller of Extended Range Guided Munition
1
作者 王金柱 刘藻珍 《Journal of Beijing Institute of Technology》 EI CAS 2004年第S1期63-67,共5页
Extended range guided munition (ERGM) is a complicated multi-input and multi-output control system. It is very difficult for general control method to meet both the designing stability and its dynamical performance, f... Extended range guided munition (ERGM) is a complicated multi-input and multi-output control system. It is very difficult for general control method to meet both the designing stability and its dynamical performance, for the parameters being uncertain in the ERGM model. Adaptive controller and robust tracking controllers are presented respectively in this paper. These two approaches are synthesized in order to design an improved and applied performance of ERGM controller. Computer simulation technology is used to validate it, and the result shows the design is reasonable and applied. 展开更多
关键词 adaptive control robust control: robust tracking controller
下载PDF
Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer 被引量:8
2
作者 Mou Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第3期458-465,共8页
In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly desi... In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances. 展开更多
关键词 Disturbance observer robust tracking control self-balancing mobile robot sliding mode control(SMC)
下载PDF
Fuzzy robust path tracking strategy of an active pelagic trawl system with coordinated ship and winch regulation 被引量:2
3
作者 陈英龙 周华 +1 位作者 赵勇刚 侯交义 《Journal of Central South University》 SCIE EI CAS 2014年第1期167-179,共13页
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and f... A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system. 展开更多
关键词 active pelagic trawl system robust H21H∞ path tracking control Takagi-Sugeno (T-S) nonlinear modeling ship andwinch regulation
下载PDF
Robust attitude control for rapid multi-target tracking in spacecraft formation flying
4
作者 袁长清 李俊峰 +1 位作者 王天舒 宝音贺西 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2008年第2期185-198,共14页
A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the an... A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the antenna is tracking the follower spacecraft. By an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively. To simplify the control design problem, this paper first derives the desired inverse system (DIS), which can convert the attitude tracking problem of 3D space into the regulator problem. Based on DIS and sliding mode control (SMC), a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stability theory, the closed loop system stability can be achieved. The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation. 展开更多
关键词 attitude control formation flying multi-body spacecraft robust control multi-target tracking
下载PDF
Robust parametric approach for tracking control of an air-breathing hypersonic cruise vehicle
5
作者 蔡光斌 段广仁 +1 位作者 胡昌华 谭峰 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2010年第1期58-64,共7页
To realize the stabilization and the tracking of flight control for an air-breathing hypersonic cruise vehicle, the linearization of the longitudinal model under trimmed cruise condition is processed firstly. Furtherm... To realize the stabilization and the tracking of flight control for an air-breathing hypersonic cruise vehicle, the linearization of the longitudinal model under trimmed cruise condition is processed firstly. Furthermore, the flight control problem is formulated as a robust model tracking control problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach. 展开更多
关键词 hypersonic cruise vehicle robust parametric approach tracking control eigenstructure assignment parameter optimization
下载PDF
Vehicle Active Steering Control Research Based on Two-DOF Robust Internal Model Control 被引量:12
6
作者 WU Jian LIU Yahui +3 位作者 WANG Fengbo BAO Chunjiang SUN Qun ZHAO Youqun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第4期739-746,共8页
Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee... Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained. 展开更多
关键词 active steering internal model control model tracking robust performance crosswind disturbances
下载PDF
Singular perturbation composite control of a free-floating flexible dual-arm space robot
7
作者 罗战武 王从庆 《Journal of Pharmaceutical Analysis》 SCIE CAS 2008年第1期43-47,70,共6页
The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. ... The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods. 展开更多
关键词 free-floating Flexible Dual-arm Space Robot singular perturbation robust tracking control vibration suppression
下载PDF
Fuzzy adaptive robust control for space robot considering the effect of the gravity 被引量:14
8
作者 Qin Li Liu Fucai +1 位作者 Liang Lihuan Gao Jingfang 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2014年第6期1562-1570,共9页
Space robot is assembled and tested in gravity environment, and completes on-orbit service(OOS) in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of g... Space robot is assembled and tested in gravity environment, and completes on-orbit service(OOS) in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control(FARC) strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative(PD) controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified. 展开更多
关键词 Fuzzy adaptive Microgravity robustness Space robot Trajectory tracking control
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部