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基于改进型积分终端滑模控制方法的移动机器人轨迹跟踪设计与实验

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控制与决策 2023年第10期38卷 2881-2887页

作者：王雪闯王会明赵振华重庆邮电大学自动化学院重庆400065 南京航空航天大学自动化学院南京211106

为了使移动机器人获得高精度和快速收敛的跟踪性能,设计一种基于积分终端滑模和滑模观测器的轨迹跟踪控制方法.首先,考虑到移动机器人在实际运动过程中会受到地面湿滑、摩擦等原因引起的侧滑扰动的影响,建立其在该扰动影响下的运动学模... 详细信息

为了使移动机器人获得高精度和快速收敛的跟踪性能,设计一种基于积分终端滑模和滑模观测器的轨迹跟踪控制方法.首先,考虑到移动机器人在实际运动过程中会受到地面湿滑、摩擦等原因引起的侧滑扰动的影响,建立其在该扰动影响下的运动学模型;然后,利用该动态模型设计滑模观测器来估计系统受到的扰动;接着,将估计的扰动值前馈至反馈控制器,用来抑制扰动对系统控制性能的影响,从而达到削弱抖振的目的;同时,基于跟踪误差设计积分终端滑模面,并结合滑模面和扰动估计设计新型积分终端滑模控制器;最后,基于lyapunov稳定性理论对整个闭环系统进行稳定性分析.仿真实验结果表明,所设计的控制器具有更高的跟踪精度和更强的鲁棒性.

关键词：积分终端滑模控制滑模观测器轨迹跟踪移动机器人运动学模型 lyapunov

Fuzzy Adaptive Control of a Fractional Order Chaotic System With Unknown Control Gain Sign Using a Fractional Order Nussbaum Gain

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 816-823页

作者： Khatir Khettab Samir Ladaci Yassine Bensafia IEEE the Electrical Engineering Department University of Mohamed Boudiaf M’sila 28000 Algeria Electrical Engineering Department University of Skikda the EEA Department National Polytechnic School of Constantine B. P. 75 A Ali Mendjli 25000 Constantine Algeria SP-Lab Laboratory Department of Electronics Mentouri University Yassine Bensafia is with the Electrical Engineering Department University of Bouira

In this paper we propose an improved fuzzy adaptive control strategy, for a class of nonlinear chaotic fractional order(SISO) systems with unknown control gain sign. The online control algorithm uses fuzzy logic sets for the identification of the fractional order chaotic system, whereas the lack of a priori knowledge on the control directions is solved by introducing a fractional order Nussbaum gain. Based on lyapunov stability theorem, stability analysis is performed for the proposed control method for an acceptable synchronization error level. In this work, the Gr ¨unwald-Letnikov method is used for numerical approximation of the fractional order systems. A simulation example is given to illustrate the effectiveness of the proposed control scheme.

关键词： Adaptive fuzzy control chaos synchronization fractional order Nussbaum function lyapunov stability nonlinear fractional order systems

Robust Fractional-Order Proportional-Integral Observer for Synchronization of Chaotic Fractional-Order Systems

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 268-277页

作者： Ibrahima N’Doye Khaled Nabil Salama Taous-Meriem Laleg-Kirati IEEE Computer Electrical and Mathematical Sciences and Engineering Division (CEMSE)King Abdullah University of Science and Technology (KAUST)

In this paper, we propose a robust fractional-order proportional-integral(FOPI) observer for the synchronization of nonlinear fractional-order chaotic systems. The convergence of the observer is proved, and sufficient conditions are derived in terms of linear matrix inequalities(LMIs) approach by using an indirect lyapunov method. The proposed FOPI observer is robust against Lipschitz additive nonlinear uncertainty. It is also compared to the fractional-order proportional(FOP) observer and its performance is illustrated through simulations done on the fractional-order chaotic Lorenz system.

关键词： Chaos synchronization fractional-order chaotic systems indirect lyapunov approach linear matrix inequality(LMI) robust proportional-integral observer design

Sliding-Mode-Control Based Robust Guidance Algorithm Using Only Line-of-Sight Rate Measurement

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Journal of Systems Science & Complexity 2016年第6期29卷 1485-1504页

作者： CHEN Jian TIAN Yuan LI Peng LI Qingdong REN Zhang College of Engineering China Agricultural UniversityBeijing 100083China Beijing Institute of Space Long March Vehicle Beijing 100076China Halliburton Energy Services Inc. Houston 77032USA Science and Technology on Aircraft Control Laboratory Beijing University of Aeronautics and AstronauticsBeijing 100191China

Robust guidance algorithm using only line-of-sight rate measurement is proposed for the interceptor with passive seeker.The initial relative distance,initial closing velocity and their error boundaries are employed to obtain their estimations according to the interceptor-target relative kinematics.A robust guidance law based on sliding mode control is formulated,in which the boundary of target maneuver is needed and the chattering phenomenon inevitably exists.In order to address the defects above,an estimation to the boundary of the target acceleration is proposed to improve the robust guidance law and the lyapunov stability analysis is included.The main feature of the robust guidance algorithm is that it reduces the influence of the relative distance,the closing velocity and the target maneuver on the interception and enhances the effect of line-of-sight rate.With two worst conditions of initial measured distance and initial measured closing velocity,performances of the proposed guidance laws are verified via numerical simulations against different target maneuvers.

关键词：鲁棒制导律速度测量滑模控制算法 lyapunov 视线目标机动相对距离

Stability and Robust Stability of Switched Positive Linear Systems With All Modes Unstable

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 167-176页

作者： Shaoxia Feng Juan Wang Jun Zhao Shanxi Institute of Mechanical and Electrical Engineering the College of Information Scienceand Engineering Northeastern University the Faculty of Information and Control Engineering Shenyang Jianzhu University the State Key Laboratory of Synthetical Automationfor Process Industries (Northeastern University) the Collegeof Information Science and Engineering Northeastern University

This paper is concerned with the stability and robust stability of switched positive linear systems(SPLSs) whose subsystems are all unstable. By means of the mode-dependent dwell time approach and a class of discretized co-positive lyapunov functions, some stability conditions of switched positive linear systems with all modes unstable are derived in both the continuous-time and the discrete-time cases, respectively. The copositive lyapunov functions constructed in this paper are timevarying during the dwell time and time-invariant afterwards. In addition, the above approach is extended to the switched interval positive systems. A numerical example is proposed to illustrate our approach.

关键词： Discretized co-positive lyapunov functions mode-dependent dwell time robust stability switched positive linear systems (SPLSs) unstable subsystem

基于多lyapunov函数方法的模糊滑模控制算法(英文)

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机床与液压 2014年第24期42卷 112-116页

作者：杨治平陈姗姗聂振华重庆电子工程职业学院重庆401331

对于多电机操控的高复杂度机电系统,构建对多电机控制的通用性强的控制算法十分重要。给出了基于多lyapunov函数方法设计的感应电机速度控制模糊滑模控制算法。在控制方案中,首先应用lyapunov函数方法设计感应电机的速度估计器;其次应用... 详细信息

对于多电机操控的高复杂度机电系统,构建对多电机控制的通用性强的控制算法十分重要。给出了基于多lyapunov函数方法设计的感应电机速度控制模糊滑模控制算法。在控制方案中,首先应用lyapunov函数方法设计感应电机的速度估计器;其次应用lyapunov函数方法设计滑模控制器;最后应用lyapunov稳定条件,设计模糊滑模控制器。整合的模糊滑模控制技术,为多电机控制提供了有效的参考。

关键词： lyapunov 函数多电机系统速度传感器滑模控制模糊控制

Switching-based stabilization of aperiodic sampled-data Boolean control networks with all subsystems unstable

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Frontiers of Information Technology & Electronic Engineering 2020年第2期21卷 260-267页

作者： Liang-jie SUN Jian-quan LU Wai-Ki CHING School of Mathematics Southeast UniversttyNanjing 210096China Department of Mathematics The University of Hong KongHong KongChina

We aim to further study the global stability of Boolean control networks(BCNs)under aperiodic sampleddata control(ASDC).According to our previous work,it is known that a BCN under ASDC can be transformed into a switched Boolean network(SBN),and further global stability of the BCN under ASDC can be obtained by studying the global stability of the transformed SBN.Unfortunately,since the major idea of our previous work is to use stable subsystems to offset the state divergence caused by unstable subsystems,the SBN considered has at least one stable subsystem.The central thought in this paper is that switching behavior also has good stabilization;i.e.,the SBN can also be stable with appropriate switching laws designed,even if all subsystems are unstable.This is completely different from that in our previous work.Specifically,for this case,the dwell time(DT)should be limited within a pair of upper and lower bounds.By means of the discretized lyapunov function and DT,a sufficient condition for global stability is obtained.Finally,the above results are demonstrated by a biological example.

关键词： Aperiodic sampled-data control Boolean control networks Unstable subsystem Discretized lyapunov function Dwell time

Robust Finite-time Synchronization of Non-identical Fractional-order Hyperchaotic Systems and Its Application in Secure Communication

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 228-235页

作者： Hadi Delavari Milad Mohadeszadeh the Electrical Engineering Department Hamedan University of Technology

This paper proposes a novel adaptive sliding mode control(SMC) method for synchronization of non-identical fractional-order(FO) chaotic and hyper-chaotic systems. Under the existence of system uncertainties and external disturbances,finite-time synchronization between two FO chaotic and hyperchaotic systems is achieved by introducing a novel adaptive sliding mode controller(ASMC). Here in this paper, a fractional sliding surface is proposed. A stability criterion for FO nonlinear dynamic systems is introduced. Sufficient conditions to guarantee stable synchronization are given in the sense of the lyapunov stability theorem. To tackle the uncertainties and external disturbances, appropriate adaptation laws are introduced. Particle swarm optimization(PSO) is used for estimating the controller parameters. Finally, finite-time synchronization of the FO chaotic and hyper-chaotic systems is applied to secure communication.

关键词： Adaptive sliding mode control (ASMC) chaos synchronization fractional order (FO) hyper-chaotic system lyapunov theorem secure communication

基于lyapunov函数的船舶航向保持非线性控制器设计

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舰船科学技术 2017年第7X期39卷 25-27页

作者：胡祝兵陈健升冯海超河北省高等学校工业数据通信与自动化仪表应用技术研发中心河北承德067000 承德石油高等专科学校河北承德067000

船舶航向保持控制器是船舶动力系统的重要组成部件,其目的是使大型船舶航行轨迹与预设轨迹误差在阀值范围内。传统的船舶航向控制器利用PID控制器计算各种干扰综合作用力,并控制推进器平衡外界干扰力,随着船舶动力系统复杂度增加,PID的... 详细信息

船舶航向保持控制器是船舶动力系统的重要组成部件,其目的是使大型船舶航行轨迹与预设轨迹误差在阀值范围内。传统的船舶航向控制器利用PID控制器计算各种干扰综合作用力,并控制推进器平衡外界干扰力,随着船舶动力系统复杂度增加,PID的控制精度及时效性已不能满足现代船舶航向保持的要求。lyapunov函数是一种微分跟踪控制过程,对于复杂非线性系统具有很好的鲁棒性。本文研究船舶航向保持控制的数学模型,在此基础上提出基于lyapunov函数的船舶航向保持非线性控制器。

关键词：航向控制器非线性反馈系统 lyapunov