天线伺服控制系统是通信系统的重要组成部分。天线伺服控制的稳定性和快速性直接影响通信质量的好坏。针对某一船站天线系统,在设计模糊自适应比例-积分-微分(Proportional Integral Derivative,PID)控制器的基础上,进行多模态控制系统...天线伺服控制系统是通信系统的重要组成部分。天线伺服控制的稳定性和快速性直接影响通信质量的好坏。针对某一船站天线系统,在设计模糊自适应比例-积分-微分(Proportional Integral Derivative,PID)控制器的基础上,进行多模态控制系统设计。通过设计一个切换阀值,将大比例控制、超前滞后控制、模糊自适应PID控制组合在一起。当位置误差较大时,用大比例控制,位置误差适中时用超前滞后控制,当误差小于一个阀值时,采用模糊自适应PID控制。多模态控制阶跃响应曲线前面一段用比例控制,响应速度更快,中间位置切换到超前滞后控制那段,避免超调震荡,最后段用模糊自适应PID控制,稳态误差小。利用Matlab进行仿真,仿真结果显示多模态控制能够得到比单一控制更好的动态响应性能。展开更多
The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and ...The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties. Two transformations are exploited based on the idea of backstepping and the structure of tracking error system. Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma. The asymptotic convergence of a closed-loop error system is proved rigorously. Finally, simulation results demonstrate the effectiveness of the proposed strategies.展开更多
文摘天线伺服控制系统是通信系统的重要组成部分。天线伺服控制的稳定性和快速性直接影响通信质量的好坏。针对某一船站天线系统,在设计模糊自适应比例-积分-微分(Proportional Integral Derivative,PID)控制器的基础上,进行多模态控制系统设计。通过设计一个切换阀值,将大比例控制、超前滞后控制、模糊自适应PID控制组合在一起。当位置误差较大时,用大比例控制,位置误差适中时用超前滞后控制,当误差小于一个阀值时,采用模糊自适应PID控制。多模态控制阶跃响应曲线前面一段用比例控制,响应速度更快,中间位置切换到超前滞后控制那段,避免超调震荡,最后段用模糊自适应PID控制,稳态误差小。利用Matlab进行仿真,仿真结果显示多模态控制能够得到比单一控制更好的动态响应性能。
基金Supported by National Natural Science Foundation of China(61374040,61304004,61473179)Scientific Innovation Program(13Z Z115)+2 种基金Hujiang Foundation of China(C14002)Graduate Innovation Program of Shanghai(54-13-302-102)and the Natural Science Foundation of Shandong Province(ZR2013FM012,ZR2014FM007)
文摘The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties. Two transformations are exploited based on the idea of backstepping and the structure of tracking error system. Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma. The asymptotic convergence of a closed-loop error system is proved rigorously. Finally, simulation results demonstrate the effectiveness of the proposed strategies.
