Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback lin...Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.展开更多
A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG f...A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG for SBW system is proposed, in which the LTR is utilized to eliminate the effect from the Kalman filter. Thirdly, simulations based on the co- simulation platform of MATLAB/Simulink and Carsim are performed with the proposed control strategy to identify its performance. At last, field experiments are conducted to further verify the feasibility of the proposed control strategy in real application. The simulation and experiment results indicate that the proposed control strategy has good stability, robustness and feasibility in real application, and is more effective in practical application of SBW system.展开更多
基金Project(60974047)supported by the National Natural Science Foundation of ChinaProject(S2012010008967)supported by the Natural Science Foundation of Guangdong Province,China+4 种基金Project supported by the Science Fund for Distinguished Young Scholars,ChinaProject supported by 2011 Zhujiang New Star Fund,ChinaProject(121061)supported by FOK Ying Tung Education Foundation of ChinaProject supported by the Ministry of Education for New Century Excellent Talent,ChinaProject(20124420130001)supported by the Doctoral Fund of Ministry of Education of China
文摘Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
基金supported by the National Natural Science Foundation of China (Grant No. 51375007)the Fundamental Research Funds for the Central Universities (Grant No. NE2016002)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems (Grant No.GZKF-201605)
文摘A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG for SBW system is proposed, in which the LTR is utilized to eliminate the effect from the Kalman filter. Thirdly, simulations based on the co- simulation platform of MATLAB/Simulink and Carsim are performed with the proposed control strategy to identify its performance. At last, field experiments are conducted to further verify the feasibility of the proposed control strategy in real application. The simulation and experiment results indicate that the proposed control strategy has good stability, robustness and feasibility in real application, and is more effective in practical application of SBW system.
