In this paper,some kinds of linear and nonlinear tracking-differentiators are designed by using suitable exponent functions instead of switch functions,and the stability of these tracking-differentiators is proved.Fro...In this paper,some kinds of linear and nonlinear tracking-differentiators are designed by using suitable exponent functions instead of switch functions,and the stability of these tracking-differentiators is proved.From the result of simulations,it is manifest that the tracking speeds of these kinds of linear and nonlinear tracking-differentiators are very high,and their design procedures are simple.展开更多
Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed contr...Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.展开更多
The tracking control of linear differential inclusion is discussed. First, the definition of uniformly ultimate boundedness for linear differential inclusion is given. Then, a feedback law is constructed by using the ...The tracking control of linear differential inclusion is discussed. First, the definition of uniformly ultimate boundedness for linear differential inclusion is given. Then, a feedback law is constructed by using the convex hull Lyapunov function. The sufficient condition is given to guarantee the tracking error system uniformly ultimately bounded. Finally, a numerical example is simulated to illustrate the effectiveness of this control design.展开更多
针对麦克纳姆轮全向移动平台轨迹跟踪控制问题,提出了一种模型预测控制(Model Predictive Control,MPC)和微分先行比例-积分-微分(Proportional plus Integral plus Derivative,PID)协同的双闭环控制策略。基于麦克纳姆轮运动学特点,设...针对麦克纳姆轮全向移动平台轨迹跟踪控制问题,提出了一种模型预测控制(Model Predictive Control,MPC)和微分先行比例-积分-微分(Proportional plus Integral plus Derivative,PID)协同的双闭环控制策略。基于麦克纳姆轮运动学特点,设计了位姿控制环和速度控制环;在位姿控制环建立麦克纳姆轮底盘的线性误差模型,设计二次型目标函数,将路径跟随问题转化为对非线性模型的预测控制;在速度控制环引入微分先行PID控制器,避免输入量频繁的阶跃变化对系统产生高频干扰,加快麦克纳姆轮的角速度收敛,增强了系统稳定性。仿真实验表明,设计的控制器在收敛速度、跟踪精度方面均高于常见的轨迹跟踪器,对麦克纳姆轮移动平台的控制具有良好的鲁棒性。展开更多
基金Supported by the National Natural Science Foundation of China (6 0 1 740 2 1 ) and Tianjin Key NaturalScience Foundation(0 1 3 80 0 71 1 )
文摘In this paper,some kinds of linear and nonlinear tracking-differentiators are designed by using suitable exponent functions instead of switch functions,and the stability of these tracking-differentiators is proved.From the result of simulations,it is manifest that the tracking speeds of these kinds of linear and nonlinear tracking-differentiators are very high,and their design procedures are simple.
基金Supported by the National High Technology Research and Development Programme of China(No.2015AA8082065)the National Natural Science Foundation of China(No.61205143)
文摘Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.
基金Project (No. 61074003) supported by the National Natural Science Foundation of China
文摘The tracking control of linear differential inclusion is discussed. First, the definition of uniformly ultimate boundedness for linear differential inclusion is given. Then, a feedback law is constructed by using the convex hull Lyapunov function. The sufficient condition is given to guarantee the tracking error system uniformly ultimately bounded. Finally, a numerical example is simulated to illustrate the effectiveness of this control design.
文摘针对麦克纳姆轮全向移动平台轨迹跟踪控制问题,提出了一种模型预测控制(Model Predictive Control,MPC)和微分先行比例-积分-微分(Proportional plus Integral plus Derivative,PID)协同的双闭环控制策略。基于麦克纳姆轮运动学特点,设计了位姿控制环和速度控制环;在位姿控制环建立麦克纳姆轮底盘的线性误差模型,设计二次型目标函数,将路径跟随问题转化为对非线性模型的预测控制;在速度控制环引入微分先行PID控制器,避免输入量频繁的阶跃变化对系统产生高频干扰,加快麦克纳姆轮的角速度收敛,增强了系统稳定性。仿真实验表明,设计的控制器在收敛速度、跟踪精度方面均高于常见的轨迹跟踪器,对麦克纳姆轮移动平台的控制具有良好的鲁棒性。
