本文關(guān)鍵詞：網(wǎng)絡(luò)誘導(dǎo)時(shí)延下遙操作系統(tǒng)的暫穩(wěn)態(tài)性能約束控制研究　出處：《燕山大學(xué)》2016年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 非線性遙操作系統(tǒng) 網(wǎng)絡(luò)誘導(dǎo)時(shí)延 暫穩(wěn)態(tài)性能約束 有限時(shí)間控制 預(yù)定性能控制 終端滑模 障礙Lyapunov方程

【摘要】：遙操作系統(tǒng)作為能最大限度發(fā)揮人類和機(jī)械系統(tǒng)各自優(yōu)勢的遠(yuǎn)程操作系統(tǒng),目前已被廣泛應(yīng)用于核事故救援、空間探測、海底作業(yè)和遠(yuǎn)程醫(yī)療等領(lǐng)域。然而,遙操作系統(tǒng)在實(shí)際應(yīng)用中,一方面主從端之間信息交互不可避免地受到通信帶寬的限制;另一方面主從系統(tǒng)模型不僅具有強(qiáng)烈的非線性特性,且易受到系統(tǒng)模型及參數(shù)不確定和外界工作環(huán)境擾動的影響。此外,日益復(fù)雜的工作任務(wù)以及不斷擴(kuò)大的應(yīng)用范圍,對遙操作系統(tǒng)控制性能提出了越來越高的要求。如何在復(fù)雜網(wǎng)絡(luò)環(huán)境和惡劣工作環(huán)境下,構(gòu)造新的控制策略使系統(tǒng)滿足預(yù)設(shè)的暫穩(wěn)態(tài)性能約束,從而滿足系統(tǒng)對快速性、精確性、魯棒性等多性能控制指標(biāo)的要求,是本論文擬解決的主要問題。本文主要完善了非光滑控制以及預(yù)定性能控制理論,針對網(wǎng)絡(luò)誘導(dǎo)時(shí)變時(shí)延下的遙操作系統(tǒng)首次提出了不依賴于時(shí)延精確信息的有限時(shí)間及預(yù)定性能控制策略。論文的主要研究內(nèi)容如下:首先,針對網(wǎng)絡(luò)誘導(dǎo)定常以及時(shí)變時(shí)延下遙操作系統(tǒng)的有限時(shí)間零誤差穩(wěn)態(tài)性能約束控制問題展開了深入的研究,通過設(shè)計(jì)新穎的非光滑控制策略,保證主從同步誤差在有限時(shí)間內(nèi)趨于零點(diǎn)。定常時(shí)延下,系統(tǒng)性地研究了遙操作系統(tǒng)在狀態(tài)反饋以及輸出反饋下基于終端滑模的有限時(shí)間控制策略的設(shè)計(jì)問題;構(gòu)造了兩種新的非奇異快速終端滑模面,解決了常規(guī)終端滑�？刂浦写嬖诘钠娈愔祮栴};給出了新的快速有限時(shí)間速度觀測器設(shè)計(jì)方法,改善了常規(guī)速度觀測器觀測速度慢且能力有限的問題。時(shí)變時(shí)延下,提出了新的快速有限時(shí)間參數(shù)自適應(yīng)估計(jì)方法,實(shí)現(xiàn)了對系統(tǒng)不確定參數(shù)的有限時(shí)間精確估計(jì);完成了不依賴于時(shí)延精確信息的有限時(shí)間控制策略的設(shè)計(jì),進(jìn)一步建立了控制器參數(shù)、時(shí)延變化率上界與系統(tǒng)穩(wěn)定性的關(guān)系表達(dá)式,降低了系統(tǒng)的保守性。其次,針對網(wǎng)絡(luò)誘導(dǎo)定常以及時(shí)變時(shí)延下遙操作系統(tǒng)的暫態(tài)以及有界誤差穩(wěn)態(tài)性能約束控制問題,提出了新的預(yù)定性能控制方案。定常時(shí)延下,基于反步遞推策略設(shè)計(jì)了新的預(yù)定性能控制方法,保證遙操作系統(tǒng)漸近收斂的同時(shí)滿足實(shí)際應(yīng)用對系統(tǒng)超調(diào)量、收斂速度、收斂精度等暫穩(wěn)態(tài)性能的要求;構(gòu)造了新的自適應(yīng)補(bǔ)償方案,實(shí)現(xiàn)了執(zhí)行器飽和下遙操作系統(tǒng)漸近收斂的同時(shí)滿足預(yù)定的暫穩(wěn)態(tài)性能要求。時(shí)變時(shí)延下,成功引入多維小增益定理,解決了時(shí)變時(shí)延下網(wǎng)絡(luò)化遙操作系統(tǒng)不依賴于時(shí)延精確信息的預(yù)定性能控制器設(shè)計(jì)問題,給出了系統(tǒng)性能方程參數(shù)、控制器參數(shù)、時(shí)延變化率上界與系統(tǒng)穩(wěn)定性的關(guān)系,為系統(tǒng)性能方程參數(shù)和控制器參數(shù)的選取提供了理論依據(jù)。最后,針對網(wǎng)絡(luò)誘導(dǎo)定常時(shí)延下遙操作系統(tǒng)的暫態(tài)及有限時(shí)間零誤差穩(wěn)態(tài)性能約束控制問題,設(shè)計(jì)了終端滑模控制結(jié)合干擾觀測器估計(jì)的新的有限時(shí)間控制策略。引入新的同步誤差性能約束函數(shù),構(gòu)造了新的系統(tǒng)性能轉(zhuǎn)換方程變量,設(shè)計(jì)了新的非奇異快速積分終端滑模面;提出了基于終端滑模思想的快速有限時(shí)間干擾觀測器,其精確的估計(jì)能力有效抑制了滑模高頻抖振現(xiàn)象的產(chǎn)生;基于障礙Lyapunov方程,構(gòu)造了新的有限時(shí)間控制策略,實(shí)現(xiàn)主從機(jī)器人同步誤差有限時(shí)間收斂至零點(diǎn)的同時(shí),滿足實(shí)際應(yīng)用對系統(tǒng)超調(diào)量、收斂精度、收斂速度等多性能控制指標(biāo)的要求。仿真結(jié)果驗(yàn)證了本論文所設(shè)計(jì)控制策略的合理性和有效性,對比仿真結(jié)果驗(yàn)證了所設(shè)計(jì)控制策略的優(yōu)越性,實(shí)驗(yàn)結(jié)果驗(yàn)證了所設(shè)計(jì)控制策略的實(shí)用性。
[Abstract]:The remote operating system as a remote operating system to maximize the advantages of human and mechanical systems, has been widely used in nuclear accident rescue, space exploration, submarine operations and remote medical fields. However, the remote operating system in the practical application, on the one hand from the main communication bandwidth of information interaction between the inevitable end on the other hand; master-slave system model not only has strong nonlinear characteristics, and are vulnerable to the system model and parameter uncertainty and external disturbance environment. In addition, the increasingly complex tasks and expanding the scope of application, the control performance is put forward higher request. How to remote operating system in complex network the environment and poor working environment, the construction of a new control strategy to make the system meet the steady-state and transient performance constraint default, so as to meet the system of fast, accurate, The robustness of performance index of control requirements, is the main problem to be solved. This paper mainly improves the non smooth control and predetermined performance control theory for the network induced time-varying delay under the remote operating system is put forward for the first time limit time and the predetermined performance control strategy does not depend on the precise time delay information. The main research the contents of this paper are as follows: firstly, according to the finite time constant and time-varying network induced time delay. The operating system of zero error steady performance constrained control problem is studied deeply, by the design of a novel non smooth control strategy, ensure the master-slave synchronization error in finite time tends to zero. Constant time, systematic study on the remote operating system in the state feedback and output feedback is designed based on the finite time terminal sliding mode control strategy; the construction of two new nonsingular fast The terminal sliding surface, solves the problems of conventional terminal sliding mode control of singular value problem; give the design method of finite time fast speed observer, improved the conventional speed observer of slow speed and limited ability. When the variable time delay estimation method is proposed, finite time fast new adaptive parameter, to realize finite time the uncertain system parameters estimation; the control strategy design of finite time delay does not depend on the accurate information, to further establish the parameters of the controller, delay the rate of change of expression between the upper and the system stability, reduce the conservatism of the system. Secondly, according to the transient teleoperation system of network induced steady and time-varying time delay and bounded error of steady-state performance constrained control problem, put forward a new control scheme. The performance of a predetermined constant time, backstepping strategy based on The design of the control method of predetermined performance of the new remote operating system, to ensure the asymptotic convergence while satisfying the practical application to the system overshoot, convergence speed, convergence precision and transient performance requirements; to construct an adaptive new compensation scheme, realize the actuator saturation and the asymptotic convergence of the teleoperation system satisfies a predetermined temporary steady state performance requirements. Time delay, the successful introduction of multidimensional small gain theorem, solve the predetermined performance controller design problem of time-varying delay under networked remote operating system does not depend on the precise time delay information of the controller parameters is given equation parameters, system performance, relationship between the upper bound of the rate of delay variation and system stability, provide a theoretical basis for for the selection of system performance equation parameters and controller parameters. Finally, the network induced transient teleoperation system with fixed and finite time constant delay zero error steady performance The constrained control problem, design the terminal sliding mode control based on finite time disturbance observer to estimate the new control strategy is introduced. The synchronization error performance of new constraint function, constructing a system performance conversion equation of the variable, design a new nonsingular fast terminal sliding mode surface integral; put forward the finite time fast terminal sliding mode observer based on interference of thought the accurate estimation of ability, can effectively restrain the chattering of the sliding mode; obstacle based on Lyapunov model and construct new finite time control strategy, realize the master-slave robot finite time synchronization error converges to zero at the same time, to meet the practical application of the system overshoot, convergence precision, convergence speed and other performance index of control requirements. Simulation results verify the rationality and validity of the control strategy design of this paper, simulation results show that the designed control strategy The experimental results verify the practicability of the designed control strategy.

【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP242;TP872
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本文編號：1430393