The exact feedback linearization method implies an accurate knowledge of the model and its parameters.This assumption is an inherent limitation of the method,suffering from robustness issues.In general,the model struc...The exact feedback linearization method implies an accurate knowledge of the model and its parameters.This assumption is an inherent limitation of the method,suffering from robustness issues.In general,the model structure is only partially known and its parameters present uncertainties.The current paper extends the classical exact feedback linearization to the robust feedback linearization by adding an appropriatelydesigned robust control layer.This is then able to ensure robust stability and robust performance for the given uncertain system in a desired region of attraction.We consider the case of full relative degree input-affine nonlinear systems,which are of great practical importance in the literature.The inner loop contains the feedback linearization input for the nominal system and the resulting residual nonlinearities can always be characterized as inverse additive uncertainties.The constructive proofs provide exact representations of the uncertainty models in three considered scenarios:unmatched,fully-matched,and partially-matched uncertainties.The uncertainty model will be a descriptor system,which also represents one of the novelties of the paper.Our approach leads to a simplified control structure and a less conservative coverage of the uncertainty set compared to current alternatives.The end-to-end procedure is emphasized on an illustrative example,in two different hypotheses.展开更多
永磁同步直线电机(permanent magnet linear synchronous motor,PMLSM)凭借直接将电能转化为直线运动、无机械传动结构的特性,在高端装备制造中应用广泛。然而,传统矢量控制存在动态响应和稳态精度不足的问题,难以满足复杂工况下的高性...永磁同步直线电机(permanent magnet linear synchronous motor,PMLSM)凭借直接将电能转化为直线运动、无机械传动结构的特性,在高端装备制造中应用广泛。然而,传统矢量控制存在动态响应和稳态精度不足的问题,难以满足复杂工况下的高性能位置控制需求。滑模控制作为一种强鲁棒性的非线性控制方法,可有效抑制PMLSM系统中的参数摄动、摩擦扰动和负载突变等非线性因素影响。考虑PMLSM多变量、强耦合和受非线性因素影响大的特点,对PMLSM位置滑模控制策略展开综述,分析其核心原理与实现机制,探讨不同滑模控制方法的特性与进展,为提升PMLSM位置控制精度和鲁棒性提供理论参考,助推其在高端装备制造等领域的进一步应用与发展。展开更多
基金funded by the project new smart and adaptive robotics solutions for personalized minimally invasive surgery in cancer treatment−ATHENA,European Union-NextGenerationEU and Romanian Government,under National Recovery and Resilience Plan for Romania(CF116/15.11.2022)through the Romanian Ministry of Research,Innovation and Digitalization(within Component 9,investment I8)。
文摘The exact feedback linearization method implies an accurate knowledge of the model and its parameters.This assumption is an inherent limitation of the method,suffering from robustness issues.In general,the model structure is only partially known and its parameters present uncertainties.The current paper extends the classical exact feedback linearization to the robust feedback linearization by adding an appropriatelydesigned robust control layer.This is then able to ensure robust stability and robust performance for the given uncertain system in a desired region of attraction.We consider the case of full relative degree input-affine nonlinear systems,which are of great practical importance in the literature.The inner loop contains the feedback linearization input for the nominal system and the resulting residual nonlinearities can always be characterized as inverse additive uncertainties.The constructive proofs provide exact representations of the uncertainty models in three considered scenarios:unmatched,fully-matched,and partially-matched uncertainties.The uncertainty model will be a descriptor system,which also represents one of the novelties of the paper.Our approach leads to a simplified control structure and a less conservative coverage of the uncertainty set compared to current alternatives.The end-to-end procedure is emphasized on an illustrative example,in two different hypotheses.
文摘永磁同步直线电机(permanent magnet linear synchronous motor,PMLSM)凭借直接将电能转化为直线运动、无机械传动结构的特性,在高端装备制造中应用广泛。然而,传统矢量控制存在动态响应和稳态精度不足的问题,难以满足复杂工况下的高性能位置控制需求。滑模控制作为一种强鲁棒性的非线性控制方法,可有效抑制PMLSM系统中的参数摄动、摩擦扰动和负载突变等非线性因素影响。考虑PMLSM多变量、强耦合和受非线性因素影响大的特点,对PMLSM位置滑模控制策略展开综述,分析其核心原理与实现机制,探讨不同滑模控制方法的特性与进展,为提升PMLSM位置控制精度和鲁棒性提供理论参考,助推其在高端装备制造等领域的进一步应用与发展。
