论文部分内容阅读
为了克服基于障碍Lyapunov函数反演控制方法在输出约束控制中约束变量收敛区间小和要求模型精确已知的缺陷,提出一种输出有界且全局收敛的鲁棒控制策略.将收敛区间扩展到全局,并使输出保持在约束区间内;同时消除了由未知干扰和模型不确定性引起的稳态误差,放宽了对指令信号连续可导的限制.应用于电动舵机位置伺服控制的仿真结果表明,舵面能够全局稳定且摆幅有界,稳态无静差,动态响应快,抗扰动能力强.
In order to overcome the shortcomings of constrained variable convergence interval and exact known model in output constrained control based on the obstacle Lyapunov function inversion control method, a robust control strategy with output bounded and global convergence is proposed. The convergence interval is extended to the global , And the output is kept in the constraint interval.At the same time, the steady-state error caused by the unknown disturbance and the model uncertainty is eliminated and the restrictions on the continuous and insignificance of the command signal are relaxed. The simulation results of servo-position servo control , The rudder can be globally stable and bounded swing, steady state without static difference, fast dynamic response, anti-disturbance ability.