In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system,a sliding-mode variable-structure controller based on exact feedback linearization was presented.Firstly,ba...In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system,a sliding-mode variable-structure controller based on exact feedback linearization was presented.Firstly,based on the differential geometry theory and the affine nonlinear kinematics model,the corresponding nonlinear coordinate change matrix and nonlinear state variable feedback equations were deduced,and an exact feedback linearization model was then established.Secondly,based on the exact feedback linearization model,a sliding-mode variable-structure controller was designed by selecting suitable linear switching function and exponential reaching law.Finally,the comparative experiments were carried out.And the experimental results indicated that the proposed method had a high tracking accuracy and robustness.The maximum lateral error of the straight line tracking was less than 0.06 m,and maximum lateral error of the curve path tracking was less than 0.09 m.Experimental results show that the transplanter based on this automatic navigation system can effectively track the predefined path.展开更多
Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators ...Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.展开更多
基金Key Technologies R&D Program of Liaoning Province(Y5L7160701)National High-tech R&D Program of China(“863”Program)(2013AA040403).
文摘In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system,a sliding-mode variable-structure controller based on exact feedback linearization was presented.Firstly,based on the differential geometry theory and the affine nonlinear kinematics model,the corresponding nonlinear coordinate change matrix and nonlinear state variable feedback equations were deduced,and an exact feedback linearization model was then established.Secondly,based on the exact feedback linearization model,a sliding-mode variable-structure controller was designed by selecting suitable linear switching function and exponential reaching law.Finally,the comparative experiments were carried out.And the experimental results indicated that the proposed method had a high tracking accuracy and robustness.The maximum lateral error of the straight line tracking was less than 0.06 m,and maximum lateral error of the curve path tracking was less than 0.09 m.Experimental results show that the transplanter based on this automatic navigation system can effectively track the predefined path.
基金Sponsored by the Doctoral Fund of Ministry of Education of China(20070288022)the Natural Science Foundation of Jiangsu Province of China(BK2008404)the Young Teacher Academic Foundation of Nanjing University of Technology(39710013)
文摘Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.
