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[1]霍鑫,姚郁,郑凯,等.一类带摩擦机电系统的非光滑控制设计[J].电机与控制学报,2009,(06):908-912.
 HUO Xin,YAO Yu,ZHENG Kai.Nonsmooth control design of mechanical systems with friction[J].,2009,(06):908-912.
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一类带摩擦机电系统的非光滑控制设计(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2009年06
页码:
908-912
栏目:
出版日期:
2009-12-25

文章信息/Info

Title:
Nonsmooth control design of mechanical systems with friction
作者:
霍鑫; 姚郁; 郑凯;
哈尔滨工业大学控制与仿真中心;
Author(s):
HUO Xin; YAO Yu; ZHENG Kai
Control and Simulation Center; Harbin Institute of Technology; Harbin 150080; China
关键词:
Filippov解 非光滑分析 机电系统 飞行仿真转台 摩擦
Keywords:
Filippov solution nonsmooth analysis mechanical system flight simulation table friction
分类号:
TP273
DOI:
-
文献标志码:
A
摘要:
针对一般的二阶带摩擦非线性机电系统,利用非连续微分方程解的概念和非光滑分析工具,给出一种滑模控制律。借助集值映射的概念,将原非连续微分方程转化为Filippov微分包含,利用Filippov解的性质证明了滑动模态的稳定性,依据非光滑广义Lyapunov稳定理论,证明了在Filippov框架下闭环系统的轨迹将在有限时间到达滑模面,从而闭环系统渐近稳定。通过与其他控制器进行比较研究,表明文中给出的控制律能够实现更快的趋近过程,在一定程度上抑制了滑模抖振。对带摩擦的飞行仿真转台系统进行仿真研究,仿真结果验证了控制律的有效性。
Abstract:
Utilizing the notion of solution for discontinuous differential equations and nonsmooth analysis tools,a sliding mode controller is derived for generic second order nonlinear mechanical systems with friction.By means of set-valued maps,the discontinuous differential equation was converted to Filippov differential inclusion.The stability of the sliding mode and reaching mode were proved by the properties of Filippov solution and generalized Lyapunov theory respectively.So the closed-loop system was asymptoti...

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更新日期/Last Update: 2010-06-01