The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule? based backlash compensator was presented for cancelin...The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule? based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule? based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrated the effectiveness of the proposed method.展开更多
An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy ...An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.展开更多
This paper discusses causes of the rate ripple in inertia guidance test equipment IGET, systematically analyses their effects an the rate ripple in IGTE. The analysis result shows： The rate ripple caused by the perio...This paper discusses causes of the rate ripple in inertia guidance test equipment IGET, systematically analyses their effects an the rate ripple in IGTE. The analysis result shows： The rate ripple caused by the periodic errors of inductosyn and angular encoder is higher at high speed than that caused by magnetic ripple torque and friction torque, and it cannot be eliminated by adjusting control parameters of the system. And based on the nonlinear adaptive control system theory, the paper puts forward a new control system scheme to eliminate the rate ripple caused by the periodic errors of inductosyn and angular encoder, develops the adaptive control rules and makes simulation and test. Experimental result shows a significant improvement on those tables for the period disturbs under the system scheme designed. By this plan, with the input of rate 200°/s, the rate ripple falls from 5°/s to 0. 4°/s within about 6s adaptive adjustment time, being a twelfth of before adaptation, which can not be reached by common classical controls. The experimental results conform with the simulation, which proves the validity and practicability of the plan.展开更多
文摘The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule? based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule? based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrated the effectiveness of the proposed method.
基金Supported by the National Natural Science Foundation of China(61333010,21376077,61203157)the Natural Science Foundation of Shanghai(14ZR1421800)State Key Laboratory of Synthetical Automation for Process Industries(PAL-N201404)
文摘An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.
文摘This paper discusses causes of the rate ripple in inertia guidance test equipment IGET, systematically analyses their effects an the rate ripple in IGTE. The analysis result shows： The rate ripple caused by the periodic errors of inductosyn and angular encoder is higher at high speed than that caused by magnetic ripple torque and friction torque, and it cannot be eliminated by adjusting control parameters of the system. And based on the nonlinear adaptive control system theory, the paper puts forward a new control system scheme to eliminate the rate ripple caused by the periodic errors of inductosyn and angular encoder, develops the adaptive control rules and makes simulation and test. Experimental result shows a significant improvement on those tables for the period disturbs under the system scheme designed. By this plan, with the input of rate 200°/s, the rate ripple falls from 5°/s to 0. 4°/s within about 6s adaptive adjustment time, being a twelfth of before adaptation, which can not be reached by common classical controls. The experimental results conform with the simulation, which proves the validity and practicability of the plan.
