A novel non-smooth controller of the second order double integrator system with a bounded disturbance is proposed,which stability is proved and which disturbance rejection capability is analyzed by MATLAB simulation e...A novel non-smooth controller of the second order double integrator system with a bounded disturbance is proposed,which stability is proved and which disturbance rejection capability is analyzed by MATLAB simulation experiments. The novel non-smooth output feedback controller and tracking differentiator are applied to control the azimuth servo systemof the small floating satellite antenna. The MATLAB simulation and hardware in the loop simulation experiments are conducted. The experiment results validate that the non-smooth output feedback controller with stronger surge and sudden disturbance rejection capability can realize the stable azimuth servo control of the small floating antenna to ensure the communication between the target satellite and the antenna with high quality.展开更多
This paper studies the control of chained nonholonomic systems by using smooth time-varying feedback.First,by using a time-varying state transformation,the chained nonholonomic system is transformed into a linear time...This paper studies the control of chained nonholonomic systems by using smooth time-varying feedback.First,by using a time-varying state transformation,the chained nonholonomic system is transformed into a linear time-varying system.Second,with the aid of some properties of a class of parametric Lyapunov equations and time-varying systems theory,smooth time-varying state feedback controller is developed to ensure the exponential convergence of both the system states and controls.Different from existing results,the design parameters in the proposed control strategy are independent of the initial conditions of the system.Third,as an application of the proposed smooth time-varying feedback,the attitude control problem for underactuated axisymmetric spacecraft is addressed.Finally,a numerical simulation is presented to validate the effectiveness of the proposed method.展开更多
针对康复训练过程中患者肌肉痉挛会对力反馈遥操作系统稳定性和从机械手速度平滑性产生较大影响的问题,提出了一种新的基于反向传播(BP)神经网络辨识的变增益控制方法。该方法通过 BP 神经网络实时辨识患肢动力学参数的变化并进行自适...针对康复训练过程中患者肌肉痉挛会对力反馈遥操作系统稳定性和从机械手速度平滑性产生较大影响的问题,提出了一种新的基于反向传播(BP)神经网络辨识的变增益控制方法。该方法通过 BP 神经网络实时辨识患肢动力学参数的变化并进行自适应调整控制增益,不仅消除了因患者肌肉痉挛带来的不稳定性,而且减少了其对系统运动平滑性的影响,可提高康复训练效果和起到抑制患者痉挛状态的作用。分析和仿真试验结果表明,该控制方法与传统的控制方法相比,可有效地抑制患者因肌肉痉挛带来的干扰并具有较好的稳定性和平滑性。展开更多
基金Supported by Academic Innovation Project of Beijing(201106149)
文摘A novel non-smooth controller of the second order double integrator system with a bounded disturbance is proposed,which stability is proved and which disturbance rejection capability is analyzed by MATLAB simulation experiments. The novel non-smooth output feedback controller and tracking differentiator are applied to control the azimuth servo systemof the small floating satellite antenna. The MATLAB simulation and hardware in the loop simulation experiments are conducted. The experiment results validate that the non-smooth output feedback controller with stronger surge and sudden disturbance rejection capability can realize the stable azimuth servo control of the small floating antenna to ensure the communication between the target satellite and the antenna with high quality.
基金supported in part by the National Natural Science Foundation of China for Distinguished Young Scholars under Grant 62125303the Science Center Program of National Natural Science Foundation of China under Grant 62188101the Fundamental Research Funds for the Central Universities under Grant HIT.BRET.2021008.
文摘This paper studies the control of chained nonholonomic systems by using smooth time-varying feedback.First,by using a time-varying state transformation,the chained nonholonomic system is transformed into a linear time-varying system.Second,with the aid of some properties of a class of parametric Lyapunov equations and time-varying systems theory,smooth time-varying state feedback controller is developed to ensure the exponential convergence of both the system states and controls.Different from existing results,the design parameters in the proposed control strategy are independent of the initial conditions of the system.Third,as an application of the proposed smooth time-varying feedback,the attitude control problem for underactuated axisymmetric spacecraft is addressed.Finally,a numerical simulation is presented to validate the effectiveness of the proposed method.
文摘针对康复训练过程中患者肌肉痉挛会对力反馈遥操作系统稳定性和从机械手速度平滑性产生较大影响的问题,提出了一种新的基于反向传播(BP)神经网络辨识的变增益控制方法。该方法通过 BP 神经网络实时辨识患肢动力学参数的变化并进行自适应调整控制增益,不仅消除了因患者肌肉痉挛带来的不稳定性,而且减少了其对系统运动平滑性的影响,可提高康复训练效果和起到抑制患者痉挛状态的作用。分析和仿真试验结果表明,该控制方法与传统的控制方法相比,可有效地抑制患者因肌肉痉挛带来的干扰并具有较好的稳定性和平滑性。
