项目名称: 非光滑级联系统的分析与综合
项目编号: No.61203014
项目类型: 青年科学基金项目
立项/批准年度: 2013
项目学科: 自动化学科
项目作者: 丁世宏
作者单位: 江苏大学
项目金额: 24万元
中文摘要: 随着系统对收敛性能和抗扰动性能要求的提高,非光滑控制理论吸引了研究人员的广泛关注。然而,对高阶非线性系统来说,直接进行控制设计往往导致非光滑控制器结构较为复杂,不利于工程应用。针对该问题,级联设计是一种有效的解决办法。但是,利用级联设计进行非光滑控制时,一般会涉及非光滑级联系统的分析与设计问题,而关于这类系统的研究却很少,因而大大限制了该方法在非光滑控制中的应用。基于此,本项目拟研究非光滑级联系统的稳定性分析、控制设计及应用问题。首先,利用积分输入状态稳定、强稳定性和齐次性理论,讨论稳定性分析问题。其次,结合稳定性分析结果,分析两类典型级联系统(即驱动子系统为上三角结构和下三角结构的级联系统)的控制设计问题。最后,利用级联设计方法,考虑移动机器人的非光滑跟踪控制问题,并研究算法的数字化实现方法。本项目的研究不仅有助于发展和完善级联系统控制理论,而且也可以为实际系统的非光滑级联设计提供依据。
中文关键词: 级联设计;有限时间控制;滑模;非光滑;
英文摘要: With the increasing requirements of convergence and disturbance rejection properties in control systems, the non-smooth control theory has attracted researchers' much attention. However, for high-order nonlinear systems, the direct control design usually results in the complex structure of non-smooth controllers, which are not suitable for engineering applications. To solve this problem, the cascade design is an effective method. Nevertheless, when using cascade design for non-smooth control, we will face the analysis and design problems of non-smooth cascaded systems. However, there are few research results on non-smooth cascaded systems in the literature, which severely restricts the application of cascade design method in non-smooth control area. To this end, this research proposal will focus on the stability analysis and control design problems for non-smooth cascaded systems and their practical applications. First of all, the stability analysis for non-smooth cascaded systems will be considered by utilizing integral input-to-state stability, strong stability theory and homogeneous theory. Then, combining the results of stability analysis, we will consider the control design problem for two typical kinds of non-smooth cascaded systems: the one with upper-triangular driving subsystem and the one with lower-t
英文关键词: cascade design;finite time control;sliding mode;nonsmooth;