In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(M...In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.展开更多
This paper presents the design of decentralized repetitive control （RC） for multi-input multi-output （MIMO） systems. An optimization method is used to obtain a RC compensator that ensures system stability and good...This paper presents the design of decentralized repetitive control （RC） for multi-input multi-output （MIMO） systems. An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance. The designed compensator is in the form of a stable, low order, and causal filter, in which the compensator can be implemented separately without being merged with the RC internal model. This will reduce complexity in the implementation. Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design. The novelty of design is also verified in experiments on a 2 degrees of freedom （DOF） robot.展开更多
提出了一种基于回归小波网络(recurren t w ave let netw orks)的多输入多输出系统(m u lti-inpu t m u lti-ou tpu t)动态解耦控制的新方法。该方法为分散式控制结构,采用回归小波网络作为解耦辨识器(decoup ling iden tifier),在线动...提出了一种基于回归小波网络(recurren t w ave let netw orks)的多输入多输出系统(m u lti-inpu t m u lti-ou tpu t)动态解耦控制的新方法。该方法为分散式控制结构,采用回归小波网络作为解耦辨识器(decoup ling iden tifier),在线动态辨识、回馈对应输入输出的灵敏度信息(sens itiv ity in form ation),P ID神经网络控制器根据回馈信息实现自适应分散独立控制。小波函数的紧支性、波动性以及回归网络较强的动态非线性映射能力使得回归小波网络具有较好的综合性能。仿真结果表明,用该方法构成的控制系统解耦效果好,收敛速度快,且具有较好的鲁棒性。展开更多
针对具有多变量、非线性、强耦合和不确定性的可逆冷带轧机速度张力系统,提出了一种基于扩张状态观测器(extended state observer,ESO)的全局积分滑模自适应反步分散控制方法.首先,采用机理建模方法,建立了相对完备的可逆冷带轧机速度...针对具有多变量、非线性、强耦合和不确定性的可逆冷带轧机速度张力系统,提出了一种基于扩张状态观测器(extended state observer,ESO)的全局积分滑模自适应反步分散控制方法.首先,采用机理建模方法,建立了相对完备的可逆冷带轧机速度张力多变量耦合系统的数学模型.其次,将各子系统的耦合项和不确定项看成外扰,通过构造的ESO对其进行动态观测,并分别引入所设计的全局积分滑模自适应反步控制器中进行补偿,速度张力系统实现了有效的动态解耦和协调控制.理论分析表明,所提出的控制方法能够保证滑模面的渐近稳定和闭环系统的渐近跟踪性能.最后,基于某1422mm可逆冷带轧机速度张力系统的实际数据进行仿真,结果验证了所提方法的有效性.展开更多
基金supported by the Scientific Research Innovation Development Foundation of Army Engineering University((2019)71).
文摘In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.
文摘This paper presents the design of decentralized repetitive control （RC） for multi-input multi-output （MIMO） systems. An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance. The designed compensator is in the form of a stable, low order, and causal filter, in which the compensator can be implemented separately without being merged with the RC internal model. This will reduce complexity in the implementation. Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design. The novelty of design is also verified in experiments on a 2 degrees of freedom （DOF） robot.
文摘提出了一种基于回归小波网络(recurren t w ave let netw orks)的多输入多输出系统(m u lti-inpu t m u lti-ou tpu t)动态解耦控制的新方法。该方法为分散式控制结构,采用回归小波网络作为解耦辨识器(decoup ling iden tifier),在线动态辨识、回馈对应输入输出的灵敏度信息(sens itiv ity in form ation),P ID神经网络控制器根据回馈信息实现自适应分散独立控制。小波函数的紧支性、波动性以及回归网络较强的动态非线性映射能力使得回归小波网络具有较好的综合性能。仿真结果表明,用该方法构成的控制系统解耦效果好,收敛速度快,且具有较好的鲁棒性。
文摘针对具有多变量、非线性、强耦合和不确定性的可逆冷带轧机速度张力系统,提出了一种基于扩张状态观测器(extended state observer,ESO)的全局积分滑模自适应反步分散控制方法.首先,采用机理建模方法,建立了相对完备的可逆冷带轧机速度张力多变量耦合系统的数学模型.其次,将各子系统的耦合项和不确定项看成外扰,通过构造的ESO对其进行动态观测,并分别引入所设计的全局积分滑模自适应反步控制器中进行补偿,速度张力系统实现了有效的动态解耦和协调控制.理论分析表明,所提出的控制方法能够保证滑模面的渐近稳定和闭环系统的渐近跟踪性能.最后,基于某1422mm可逆冷带轧机速度张力系统的实际数据进行仿真,结果验证了所提方法的有效性.
