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一种针对不确定机械系统的新型Lyapunov鲁棒控制方法

甄圣超 赵韩 Chen Ye-Hwa 黄康

甄圣超, 赵韩, Chen Ye-Hwa, 黄康. 一种针对不确定机械系统的新型Lyapunov鲁棒控制方法. 自动化学报, 2014, 40(5): 875-882. doi: 10.3724/SP.J.1004.2014.00875
引用本文: 甄圣超, 赵韩, Chen Ye-Hwa, 黄康. 一种针对不确定机械系统的新型Lyapunov鲁棒控制方法. 自动化学报, 2014, 40(5): 875-882. doi: 10.3724/SP.J.1004.2014.00875
ZHEN Sheng-Chao, ZHAO Han, CHEN Ye-Hwa, HUANG Kang. A New Lyapunov Based Robust Control for Uncertain Mechanical Systems. ACTA AUTOMATICA SINICA, 2014, 40(5): 875-882. doi: 10.3724/SP.J.1004.2014.00875
Citation: ZHEN Sheng-Chao, ZHAO Han, CHEN Ye-Hwa, HUANG Kang. A New Lyapunov Based Robust Control for Uncertain Mechanical Systems. ACTA AUTOMATICA SINICA, 2014, 40(5): 875-882. doi: 10.3724/SP.J.1004.2014.00875

一种针对不确定机械系统的新型Lyapunov鲁棒控制方法

doi: 10.3724/SP.J.1004.2014.00875

A New Lyapunov Based Robust Control for Uncertain Mechanical Systems

Funds: 

Supported by National High Technology Research and Development Program of China (863 Program) (2012AA112201) and the China Scholarship Council (2011669001)

More Information
    Corresponding author: ZHEN Sheng-Chao
  • 摘要: 设计了一种针对不确定机械系统的鲁棒控制器.首先分析了质量矩阵的奇异性及上边界性质,展示了质量矩阵可能会因为模型的过度简化而变为半正定.而且,进一步研究了质量矩阵上边界的一致性.在质量矩阵正定及上边界的假设条件下,提出了一种新型鲁棒控制器以抑制机械系统中的不确定性效果.从理论上证明了设计的鲁棒控制器的一致有界性及最终一致有界性.最终趋近边界球的尺寸大小可由设计者决定.最后展示了仿真结果并作了讨论.
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出版历程
  • 收稿日期:  2013-01-09
  • 修回日期:  2013-08-26
  • 刊出日期:  2014-05-20

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