遥操作系统受到不同类型的不确定性因素影响,这些不确定性会降低系统的透明性,甚至会使得系统不稳定.本文提出了一种带干扰观测器的自适应控制器(adaptive controller with disturbance observer,ACWDO)用来处理遥操作系统中同时受到的...遥操作系统受到不同类型的不确定性因素影响,这些不确定性会降低系统的透明性,甚至会使得系统不稳定.本文提出了一种带干扰观测器的自适应控制器(adaptive controller with disturbance observer,ACWDO)用来处理遥操作系统中同时受到的外部干扰和内部动力学参数不确定性.首先建立了受外部干扰的遥操作系统的非线性动力学模型;然后分别对主机器人和从机器人设计非线性干扰观测器用来对外部干扰进行估计和补偿;之后在干扰观测器基础之上分别对主机器人和从机器人设计自适应控制器用来处理内部不确定的动力学参数;最后再将所设计的ACWDO融入到四通道遥操作系统结构中.理论分析和仿真结果表明,所设计的控制器可以取得良好的位置跟踪和力跟踪效果,确保了遥操作系统的透明性.展开更多
Advanced feedback control for optimal operation of mineral grinding process is usually based on the model predictive control (MPC) dynamic optimization. Since the MPC does not handle disturbances directly by controlle...Advanced feedback control for optimal operation of mineral grinding process is usually based on the model predictive control (MPC) dynamic optimization. Since the MPC does not handle disturbances directly by controller design, it cannot achieve satisfactory effects in controlling complex grinding processes in the presence of strong disturbances and large uncertainties. In this paper, an improved disturbance observer (DOB) based MPC advanced feedback control is proposed to control the multivariable grinding operation. The improved DOB is based on the optimal achievable H 2 performance and can deal with disturbance observation for the nonminimum-phase delay systems. In this DOB-MPC advanced feedback control, the higher-level optimizer computes the optimal operation points by maximize the profit function and passes them to the MPC level. The MPC acts as a presetting controller and is employed to generate proper pre-setpoint for the lower-level basic feedback control system. The DOB acts as a compensator and improves the operation performance by dynamically compensating the setpoints for the basic control system according to the observed various disturbances and plant uncertainties. Several simulations are performed to demonstrate the proposed control method for grinding process operation.展开更多
A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operationpoints is described as a MIMO time-varying uncertain nonlinear system with unknown constant param-eters,bounded disturbance and ...A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operationpoints is described as a MIMO time-varying uncertain nonlinear system with unknown constant param-eters,bounded disturbance and nonlinear uncertainty,and a robust output feedback control methodbased on signal compensation is proposed.A controller designed by this method consists of a nominalcontroller and a robust compensator.The controller is linear time-invariant and can be realized easily.Robust attitude tracking property of closed-loop system is proven and experimental results show thatthe designed control system can guarantee high precision robust attitude control under multi-operationpoints.展开更多
文摘遥操作系统受到不同类型的不确定性因素影响,这些不确定性会降低系统的透明性,甚至会使得系统不稳定.本文提出了一种带干扰观测器的自适应控制器(adaptive controller with disturbance observer,ACWDO)用来处理遥操作系统中同时受到的外部干扰和内部动力学参数不确定性.首先建立了受外部干扰的遥操作系统的非线性动力学模型;然后分别对主机器人和从机器人设计非线性干扰观测器用来对外部干扰进行估计和补偿;之后在干扰观测器基础之上分别对主机器人和从机器人设计自适应控制器用来处理内部不确定的动力学参数;最后再将所设计的ACWDO融入到四通道遥操作系统结构中.理论分析和仿真结果表明,所设计的控制器可以取得良好的位置跟踪和力跟踪效果,确保了遥操作系统的透明性.
基金Supported by the National Natural Science Foundation of China (61104084, 61290323)the Guangdong Education University-Industry Cooperation Projects (2010B090400410)
文摘Advanced feedback control for optimal operation of mineral grinding process is usually based on the model predictive control (MPC) dynamic optimization. Since the MPC does not handle disturbances directly by controller design, it cannot achieve satisfactory effects in controlling complex grinding processes in the presence of strong disturbances and large uncertainties. In this paper, an improved disturbance observer (DOB) based MPC advanced feedback control is proposed to control the multivariable grinding operation. The improved DOB is based on the optimal achievable H 2 performance and can deal with disturbance observation for the nonminimum-phase delay systems. In this DOB-MPC advanced feedback control, the higher-level optimizer computes the optimal operation points by maximize the profit function and passes them to the MPC level. The MPC acts as a presetting controller and is employed to generate proper pre-setpoint for the lower-level basic feedback control system. The DOB acts as a compensator and improves the operation performance by dynamically compensating the setpoints for the basic control system according to the observed various disturbances and plant uncertainties. Several simulations are performed to demonstrate the proposed control method for grinding process operation.
基金supported by the National Natural Science Foundation of China under Grant Nos. 60674017 and 60736024
文摘A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operationpoints is described as a MIMO time-varying uncertain nonlinear system with unknown constant param-eters,bounded disturbance and nonlinear uncertainty,and a robust output feedback control methodbased on signal compensation is proposed.A controller designed by this method consists of a nominalcontroller and a robust compensator.The controller is linear time-invariant and can be realized easily.Robust attitude tracking property of closed-loop system is proven and experimental results show thatthe designed control system can guarantee high precision robust attitude control under multi-operationpoints.
