标题: 修正型可变结构设计与其应用在非线性可靠度控制之研究
Study of Modified Variable Structure Schemes with Application to Nonlinear Reliable Control
作者: 朱自强
Tzu-Chiang Chu
梁耀文
Yew-Wen Liang
电控工程研究所
关键字: 可变结构设计;可靠度控制;非线性控制;Variable Structure Schemes;Reliable Control;Nonlinear Control
公开日期: 2002
摘要: 本论文针对卫星系统及机器手臂模型具有不确定参数及外界干扰提出一种修正型的可变结构控制律来完成姿态控制与轨迹追踪的任务。此控制律能大幅减轻由切换式可变结构控制律所产生的切换现象,同时我们也证明所提出之控制律能将饱合式可变结构控制律只能达到最终有界的性能提升到渐进稳定的水准,模拟结果显示了所提出之修正控制律的优点。此外,本论文也利用可变结构控制的概念来设计可靠度控制器并将其应用到卫星及飞弹系统。所提出之设计方式不但能达到良好的可靠度性能,而且可大幅减轻传统可靠度控制必须求解Hamilton-Jacobi方程式之计算负担。
A modified Variable Structure Control (VSC) scheme is developed in this paper for the attitude and position tracking of satellite and robot manipulator, respectively, under parameter uncertainties and external disturbances. The modified VSC laws are continuous, which are shown to be able to alleviate chattering drawback produced by sign-type VSC controllers and improve the performance of saturation-type ones from the level of uniformly ultimate boundedness to the one of asymptotic stability. Simulation results demonstrate the benefits of the proposed VSC design scheme. In addition, we also develop a reliable VSC scheme and apply it to satellite stabilization and missile bank-to-turn tracking. It is shown that the objectives can be achieved even when the system experienced some prespecified actuators outage. In contrast to the existing reliable control, the proposed scheme can alleviate the computational burden for solving the Hamilton-Jacobi equation, which is a difficult and essential part of conventional reliable schemes.
URI: http://140.113.39.130/cdrfb3/record/nctu/#NT910591023
http://hdl.handle.net/11536/71008
显示于类别:Thesis