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带输入饱和的欠驱动吊车非线性信息融合控制

胡洲 王志胜 甄子洋

胡洲, 王志胜, 甄子洋. 带输入饱和的欠驱动吊车非线性信息融合控制. 自动化学报, 2014, 40(7): 1522-1527. doi: 10.3724/SP.J.1004.2014.01522
引用本文: 胡洲, 王志胜, 甄子洋. 带输入饱和的欠驱动吊车非线性信息融合控制. 自动化学报, 2014, 40(7): 1522-1527. doi: 10.3724/SP.J.1004.2014.01522
HU Zhou, WANG Zhi-Sheng, ZHEN Zi-Yang. Nonlinear Information Fusion Control for Underactuated Cranes with Input Saturation. ACTA AUTOMATICA SINICA, 2014, 40(7): 1522-1527. doi: 10.3724/SP.J.1004.2014.01522
Citation: HU Zhou, WANG Zhi-Sheng, ZHEN Zi-Yang. Nonlinear Information Fusion Control for Underactuated Cranes with Input Saturation. ACTA AUTOMATICA SINICA, 2014, 40(7): 1522-1527. doi: 10.3724/SP.J.1004.2014.01522

带输入饱和的欠驱动吊车非线性信息融合控制

doi: 10.3724/SP.J.1004.2014.01522
基金项目: 

国家自然科学基金(60874037,61304223),教育部高等学校博士学科点专项科研基金(20123218120015)资助

详细信息
    作者简介:

    胡洲 南京航空航天大学自动化学院博士研究生. 主要研究方向为欠驱动控制,信息融合控制. E-mail:huzhou2000@163.com

Nonlinear Information Fusion Control for Underactuated Cranes with Input Saturation

Funds: 

Supported by National Natural Science Foundation of China (60874037, 61304223), and Specialized Research Fund for the Doctoral Program of Higher Education of China (20123218120015)

  • 摘要: 针对欠驱动吊车系统的控制问题,提出了一种非线性信息融合控制方法. 通过融合二次型性能指标函数中包含的未来参考轨迹和控制能量的软约束信息,以及吊车系统状态方程和输出方程的硬约束信息,获得协状态和控制量的最优估计. 针对控制量输入饱和的问题,提出了一种控制能量软约束信息自适应调节算法,使求出的控制量满足限制要求. 信息融合控制方法基于被控对象的离散模型设计,具有易于实现的特点. 仿真结果表明了该方法的有效性.
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出版历程
  • 收稿日期:  2013-06-17
  • 修回日期:  2013-12-16
  • 刊出日期:  2014-07-20

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