为了提高伺服电机系统的动态响应速度、抗干扰能力,解决输入饱和的问题,课题组基于扩张状态观测器(extended state observer,ESO)和抗饱和输入(anti-saturation input,ASI)辅助系统设计了伺服电机的运动控制方案。首先,建立了伺服电机...为了提高伺服电机系统的动态响应速度、抗干扰能力,解决输入饱和的问题,课题组基于扩张状态观测器(extended state observer,ESO)和抗饱和输入(anti-saturation input,ASI)辅助系统设计了伺服电机的运动控制方案。首先,建立了伺服电机的数学模型,将系统阻尼和系统不确定性归为扰动,将扰动设为系统的扩张状态;然后在等效反步滑模控制(backstepping sliding mode control,BSMC)的基础上,引入了ASI辅助系统和ESO,解决输入饱和问题,并抑制内、外干扰;采用双曲正切饱和函数替换符号函数以减小滑模控制的抖振;通过李雅普诺夫稳定性方法检验所提出控制器的稳定性。最后,将基于ESO和ASI的等效反步滑模控制与比例积分微分(proportional integral differential,PID)控制、滑模控制(sliding mode control,SMC)进行仿真对比。结果表明:相较于传统PID和SMC控制器,课题组所设计的控制器可以实现伺服电机的无超调快速响应,解决了输入饱和问题,并具有较好的抗干扰能力和减小输入冲击的作用。展开更多
In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be complet...In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be completelymeasured.We theoretically prove that each agent can follow the leader with estimable track errors.Finally,somenumerical simulations are presented to illustrate our theoretical results.展开更多
By using the so-called SP-stable polynomials, this paper reconsiders the problem of global stabilization of linear systems with input saturation. Firstly, a new nonlinear feedback law consisting of parallel connection...By using the so-called SP-stable polynomials, this paper reconsiders the problem of global stabilization of linear systems with input saturation. Firstly, a new nonlinear feedback law consisting of parallel connections of saturation functions by means of the so-called state-dependent saturation function is proposed for global stabilization of chains of integrators system. The state-dependent saturation function allows increasing the control energy when some of the states are badly scaled and can improve significantly the transient performances of the closed-loop system. Secondly, this type of global stabilization nonlinear feedback laws is extended to a class of linear systems that can be globally stabilized by bounded controls. Numerical examples show the effectiveness of the proposed approach.展开更多
Low gain feedback refers to certain families of stabilizing state feedback gains that are pararaeterized in a scalar and go to zero as the scalar decreases to zero. Low gain feedback was initially proposed to achieve ...Low gain feedback refers to certain families of stabilizing state feedback gains that are pararaeterized in a scalar and go to zero as the scalar decreases to zero. Low gain feedback was initially proposed to achieve semi-global stabilization of linear systems subject to input saturation. It was then combined with high gain feedback in different ways for solving various control problems. The resulting feedback laws are referred to as low-and-high gain feedback. Since the introduction of low gain feedback in the context of semi-global stabilization of linear systems subject to input saturation, there has been effort to develop alternative methods for low gain design, to characterize key features of low gain feedback, and to explore new applications of the low gain and low-and-high gain feedback. This paper reviews the developments in low gain and low-and-high gain feedback designs.展开更多
基金Supported by the National Science Foundation of China under Grant Nos.10702023,10832006,and 60704041the Research Fund for the Doctoral Program of Higher Education under Grant No.20070487090
文摘In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be completelymeasured.We theoretically prove that each agent can follow the leader with estimable track errors.Finally,somenumerical simulations are presented to illustrate our theoretical results.
基金supported in part by the National Natural Science Foundation of China under Grant Nos. 60904007 and 61074111the China Postdoctoral Science Foundation under Grant No.20100480059+2 种基金the Heilongjiang Postdoctoral Foundation of China under Grant No.LRB10-194the Foundation for Innovative Research Group of the National Natural Science Foundation of China under Grant No.601021002the Development Program for Outstanding Young Teachers at the Harbin Institute of Technology under Grant No. HITQNJS.2009.054
文摘By using the so-called SP-stable polynomials, this paper reconsiders the problem of global stabilization of linear systems with input saturation. Firstly, a new nonlinear feedback law consisting of parallel connections of saturation functions by means of the so-called state-dependent saturation function is proposed for global stabilization of chains of integrators system. The state-dependent saturation function allows increasing the control energy when some of the states are badly scaled and can improve significantly the transient performances of the closed-loop system. Secondly, this type of global stabilization nonlinear feedback laws is extended to a class of linear systems that can be globally stabilized by bounded controls. Numerical examples show the effectiveness of the proposed approach.
文摘Low gain feedback refers to certain families of stabilizing state feedback gains that are pararaeterized in a scalar and go to zero as the scalar decreases to zero. Low gain feedback was initially proposed to achieve semi-global stabilization of linear systems subject to input saturation. It was then combined with high gain feedback in different ways for solving various control problems. The resulting feedback laws are referred to as low-and-high gain feedback. Since the introduction of low gain feedback in the context of semi-global stabilization of linear systems subject to input saturation, there has been effort to develop alternative methods for low gain design, to characterize key features of low gain feedback, and to explore new applications of the low gain and low-and-high gain feedback. This paper reviews the developments in low gain and low-and-high gain feedback designs.
