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首页> 外文期刊>IEEE Transactions on Systems, Man, and Cybernetics >An Approach to Design Robust Tracking Controllers for Nonlinear Uncertain Systems
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An Approach to Design Robust Tracking Controllers for Nonlinear Uncertain Systems

机译：一种为非线性不确定系统设计鲁棒跟踪控制器的方法

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摘要

This paper provides an approach to design robust smooth controllers that allow a plant belonging to a broad class of nonlinear uncertain systems, with possible real actuators and subject to bounded or rate-bounded disturbances, to track a sufficiently smooth reference signal with an error norm smaller than a prescribed value. The proposed control laws are based on the concept of majorant systems and allow one to establish asymptotic bounds for the tracking error and its first and second derivatives. The proposed controller design is based on two parameters: the first is related to the minimum eigenvalue of an appropriate matrix, which the practical stability depends on, and the second is determined by the desired maximum norm of the tracking error and its convergence velocity. If the trajectories to be tracked are not sufficiently smooth, suitable filtering laws are proposed to facilitate implementation of the control laws and reduce the control magnitude, especially during the transient phase. The obtained theoretical results are validated in two case studies. The first one presents a tracking control design for an industrial robot, both in the joint space and workspace, with and without real actuators or velocity measurement noise. The second one deals with tracking control design for a complex uncertain nonlinear system.
机译：本文提供了一种设计稳健光滑控制器的方法，使工厂能够具有广泛的非线性不确定系统，具有可能的真实致动器，并受到有界或速率有界障碍的影响，以跟踪具有更小的误差范围的足够平滑的参考信号。比规定值。拟议的控制法基于集团系统的概念，并允许一个人建立跟踪误差及其第一和第二衍生物的渐近界。所提出的控制器设计基于两个参数：第一是与适当矩阵的最小特征值相关的，该矩阵的实际稳定性取决于，第二个是由跟踪误差的所需最大规范及其收敛速度确定。如果要跟踪的轨迹不是充分顺利的，建议促进合适的过滤法以促进实施控制法并降低控制幅度，特别是在瞬态阶段。获得的理论结果是在两个案例研究中验证。第一个在联合空间和工作空间中提出了一种用于工业机器人的跟踪控制设计，有和没有实际致动器或速度测量噪声。第二个涉及用于复杂不确定非线性系统的跟踪控制设计。

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