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国家自然科学基金(61174057)

作品数:6 被引量:5H指数:1
相关作者:刘昱马保离更多>>
相关机构:北京航空航天大学更多>>
发文基金:国家自然科学基金北京市自然科学基金更多>>
相关领域:自动化与计算机技术交通运输工程更多>>

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Analysis of Event-triggered Control for Lurie Systems
<正>This paper is devoted to the event-triggered control for Lurie systems.Under the event-triggered control,th...
Xia Chen
关键词:UNCERTAINTY
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离轴式拖车移动机器人的任意路径跟踪控制被引量:3
2013年
离轴式拖车移动机器人属于非完整系统,当车头线速度随时间变化且过零变号时,难以用一个控制器实现系统对期望路径的跟踪.本文研究离轴式拖车移动机器人系统的任意路径跟踪问题.首先由系统和虚拟小车的运动学方程得到误差状态模型,线性化后用坐标变换将其化为标准型,然后基于Lyapunov方法构造出一种跟踪控制律.只要车头的运动线速度有界且不趋于零,其导数有界,则所设计的控制律就可以保证系统跟踪任意的期望路径,且跟踪误差最终一致有界,最终界的大小与期望路径的曲率变化率成比例.当期望路径的曲率变化率为零或趋于零时,所设计的控制律可以保证拖车移动机器人指数收敛到期望路径.仿真结果证实了控制律的有效性.
刘昱马保离
关键词:LYAPUNOV方法
Function Observer Based Event-triggered Control for Linear Systems with Guaranteed L_∞-Gain
2015年
This paper is devoted to event-triggered control design for linear systems based on function observer. More specifically, the main purpose is to design event-triggered mechanisms that trigger transmissions when the difference between the current value of the system and its previously transmitted value which includes the plant output or the function observer output exceeds an additional threshold. For such an eventtriggered mechanism, we derive conditions in terms of matrix inequality to guarantee the stability as well as longer inter-event time. We propose two approaches to investigate the closed-loop model, namely, reformulating the event-triggered control system as a hybrid system and interpreting the event-induced error as exogenous disturbance. Furthermore, the minimum inter-event time is guaranteed to be strictly positive. An example is presented to illustrate the feasibility and efficiency of the theoretic results. © 2014 Chinese Association of Automation.
Pei JiaFei HaoHao Yu
Global asymptotic tracking of asymmetrical underactuated surface vessels with parameter uncertainties
2013年
In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformations, and is considered as a cascade structure composed of two subsystems. The Lyapunov redesign approach is employed to construct the control laws separately to stabilize the two subsystems with unknown model parameters. The cascade system theory is applied to prove the global uniform asymptotic convergence of the state trajectory to the reference one provided the desired yaw velocity is not vanishing. The effectiveness of the proposed control laws is verified by simulation examples.
Wenjing XIEHailing SUNBaoli MA
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