| 引用本文: | 赵新龙,汪佳丽.结合误差变换的Bouc-Wen迟滞非线性系统反步控制器设计[J].控制理论与应用,2014,31(8):1094~1098.[点击复制] |
| ZHAO Xin-long,WANG Jia-li.Backstepping control with error transformation for Bouc-Wen hysteresis nonlinear system[J].Control Theory and Technology,2014,31(8):1094~1098.[点击复制] |
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| 结合误差变换的Bouc-Wen迟滞非线性系统反步控制器设计 |
| Backstepping control with error transformation for Bouc-Wen hysteresis nonlinear system |
| 摘要点击 2790 全文点击 1601 投稿时间：2013-12-04 修订日期：2014-04-03 |
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| DOI编号 10.7641/CTA.2014.31269 |
| 2014,31(8):1094-1098 |
| 中文关键词 迟滞 Bouc-Wen模型 误差变换 反步 |
| 英文关键词 hysteresis Bouc-Wen model error transformation backstepping |
| 基金项目 国家自然科学基金资助项目(61273184); 长江学者和创新团队发展计划资助项目(IRT13097); 浙江理工大学521人才培养计划资助项目. |
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| 中文摘要 |
| 针对智能材料执行器中非平滑、多映射的迟滞非线性, 采用Bouc-Wen模型描述迟滞, 并提出了一种基于误差变换的反步控制器设计方案. 首先利用Bouc-Wen模型中的变量特性, 通过预设性能函数, 将误差约束在预设范围内. 然后通过误差变换, 将一个对输出误差存在约束的跟踪问题转化为一个无约束的镇定问题. 最后利用反步控制
法设计迟滞系统的控制器, 该控制方法保证期望的跟踪精度, 并能将误差限定在设定范围内且满足预设性能, 提高了系统的暂态和稳态性能. 仿真结果表明设计方法的有效性. |
| 英文摘要 |
| The Bouc-Wen model is employed to describe hysteresis phenomenon which is non-smooth and multi-valued mapping in smart-material-based actuators. A backstepping controller combining with error transformation is proposed for a class of hysteresis systems. First, the prescribed performance function is used to confine the error to residual set with variable property in Bouc-Wen model explored. Then the output error transformation is introduced to transform the original constrained system into an equivalent unconstrained one. Finally, a backstepping controller is designed for the hysteresis systems. This control scheme can track the desired output effectively, guarantee the prescribed performance and improve the transient and steady state of the system. The simulation results illustrate the effectiveness of the proposed method. |