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舰载导弹在制导飞行的末端容易受到空气小扰动的影响产生轨迹偏离,需要进行轨迹偏离修正控制,提高弹道对目标跟踪的姿态稳定性,提出一种基于改进的扩展Kalman滤波(EKR)和误差反馈修正的导弹跟踪端轨迹修正控制方法.以陀螺仪采集的导弹的横滚角、俯仰角以及航向偏离的参量为控制约束指标集,采用扩展Kalman滤波算法进行姿态参量融合,结合Smith结构建立导弹跟踪控制的被控对象模型,计算末端轨迹中姿态角与真值的偏差,根据偏差进行导弹的惯性姿态反馈调节,采用自适应的量化融合跟踪识别方法进行导弹定姿处理,通过对末端轨迹的误差反馈修正提高姿态角的输出精度,根据姿态的不断变化实现自适应的位姿修正,实现导弹对敌目标跟踪的稳定性控制.仿真结果表明,采用该方法进行导弹控制的姿态角解算的误差较小,定姿精度较高,提高导弹跟踪控制的稳定性和鲁棒性. 相似文献
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为了提高某型自导飞行装置的自动化控制能力,提出基于误差反馈的自导飞行装置自动控制系统设计方法.采用误差反馈和末端姿态视觉参数识别方法,构建自导飞行装置的控制参数采集模型,结合对自导飞行装置的运动学和力学模型分析,建立自导飞行装置的运动学方程,采用惯导误差反馈和自适应补偿方法,建立自导飞行装置控制系统的控制律.通过末端姿态调整和多传感信息跟踪融合方法,实现对自导飞行装置的模糊控制算法设计.采用集成DSP芯片作为自导飞行装置控制系统的集成处理器,结合嵌入式和集成电路设计方法,实现自导飞行装置自动化控制系统设计.测试结果表明,设计的自导飞行装置控制系统稳定性较好,鲁棒性较高,提高了目标命中率. 相似文献
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针对飞行器在大机动飞行过程中气动参数不确定、外部未知干扰因素较多及系统建模可能存在误差等问题,设计了一种基于RBF神经网络的非线性自适应反演控制器。飞行器大机动飞行过程中的广义不确定性由RBF神经网络在线逼近,神经网络权值矩阵通过自适应律在线更新。反演设计过程中对虚拟控制律的反复求导带来的"项数膨胀"问题,通过引入一阶滤波器来解决。通过构造Lyapunov函数,证明了闭环系统所有信号均有界,并且跟踪误差指数收敛到零的一个小邻域内。对某飞行器进行了大机动飞行仿真,结果表明该控制器具有良好的跟踪效果和鲁棒性。 相似文献
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基于自适应模糊理论的某型无人机起飞控制方法 总被引:1,自引:0,他引:1
基于合理简化的无人机纵向模型,设计了一种自适应模糊控制器,该控制器将Takagi-Sugeno模糊系统与等效控制器相结合,以增强系统的鲁棒性.只要求预先知道系统的相对阶以及未知函数的上下界即可,不需要精确的数学模型.Lyapunov合成方法证明了跟踪误差能趋近于零且其余的控制信号均有界.最后,结合优先级按比例分配的控制分配器,给出了存在扰动情况下飞行控制系统的仿真结果,表明即使在模型部分未知的情况下,该系统仍然能够达到飞行控制的指标性能和品质要求,验证了该方法的有效性. 相似文献
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《Mechatronics》2022
An adaptive incremental sliding mode control (AISMC) scheme for a robot manipulator is presented in this paper. Firstly, an incremental backstepping (IBS) controller is designed using time-delay estimation (TDE) to reduce dependence on the mathematical model. After substituting IBS controller into the nonlinear system, a linear system w.r.t. tracking errors is obtained while TDE error is the disturbance. Then, the AISMC scheme, including a nominal controller and an SMC, is developed for the resulted linear system to improve control performance. According to the equivalent control method, the SMC in the AISMC scheme is to handle TDE error. To receive optimal control performance at the sliding manifold, an LQR controller is selected as the nominal controller. The SMC is designed based on positive semi-definite barrier function (PSDBF) since it prevents switching gains from being over/under-estimated, and two practical problems are addressed in this paper: A new PSDBF is designed and conservative (large) setting bounds affecting tracking precision and/or system stability are avoided; An improved PSDBF based SMC is developed where the PSDBF and an adaptive parameter are used simultaneously to regulate switching gains, and the system is still stable when sliding variable occasionally exceeds the predefined vicinity. Moreover, finite-time convergence property of the sliding variable is strictly analyzed. Finally, real-time experiments are conducted to verify the effectiveness of the proposed control method. 相似文献
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《Mechatronics》2022
In lower limb exoskeletons, control performance and system stability of human–robot coordinated movement are often hampered by some model parametric uncertainties. To address this problem, Neighborhood Field Optimization (NFO) is proposed to identify the unknown model parameters of an exoskeleton for the model-based controller design. The excitation trajectory is designed by the NFO algorithm with motion constraints to improve the model identification accuracy. Meanwhile, the Huber fitness function is adopted to suppress the influence of the disturbance points in sampled dataset. Then an adaptive backstepping control scheme is constructed to improve the dynamic tracking performance of human–robot training mode in the presence of the identification error. Via Lyapunov technique and backstepping iteration, all the system state errors of the exoskeleton are bound and converge to zero neighborhood based on the assumption of bounded identified parameter error. Finally, the model identification results and comparative tracking performance of the proposed scheme are verified by an experimental platform of Two-degrees of freedom (DOF) lower limb exoskeleton with human–robot cooperative motion. 相似文献
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加装空中加油状态下的受油机飞行控制律设计研究 总被引:1,自引:0,他引:1
为了克服受油飞机飞行控制系统本身复杂性以及加油机干扰气流带来的影响,根据空中加油对受油飞机的要求,结合神经网络和增益调度控制,对某型飞机飞行控制系统加装空中加油状态控制律的设计进行研究。数值仿真结果表明,经过重新设计的受油机飞行控制系统,在空中加油状态下,飞机稳定性增加,并且能在规定范围内稳定地改变和保持姿态角,从而来跟踪加油机的姿态变化。 相似文献
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针对主动队列管理系统存在UDP流干扰的拥塞问题,本文基于非线性干扰观测器提出了一种主动队列管理算法。采用非线性干扰观测器对UDP流干扰进行估计,从而减小了主动队列管理系统的干扰。然后利用设计的非线性干扰观测器,使用反步滑模方法设计了一种主动队列管理算法。由于观测误差的界未知,设计了一种自适应律来避免必须事先知道观测误差的界。仿真结果表明,该算法对UDP流干扰具有较强的鲁棒性,能使队列长度较好地稳定在期望的队列长度附近。 相似文献
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《Mechatronics》2006,16(5):279-290
In the paper a nonlinear load control method is developed and implemented for a permanent magnet linear synchronous motor (PMLSM). The purpose of the controller is to track a flexible load to the desired velocity reference as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is ensured by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented. 相似文献
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讨论了两驱动后轮角速度为控制输入的移动机器人轨迹跟踪问题,针对含有未知参数的非完整移动机器人运动学模型.基于反演(backstepping)控制算法的思想设计了变结构控制的切换函数,并由此构造了具有全局渐近稳定的白适应滑模轨迹跟踪控制器。该方法设计过程简单并具有直观的稳定性分析,适用于移动机器人的全局轨迹跟踪控制。仿真结果表明了该方法的有效性和正确性。 相似文献
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模糊自适应滤波方法在相对导航系统中的应用 总被引:1,自引:0,他引:1
编队飞行中需要确定主机和从机之间的相对位置关系,就是要解决导航定位问题。针对无人机在编队飞行过程中由于机动性较大,惯性元器件测量容易出现偏差,进而影响系统的运动状态方程的情况,或者是在系统噪声与观测噪声的统计特性不能够准确得到的情况,提出了一种新的模糊自适应滤波方法。根据实时得到的量测新息的实际方差与理论方差的差值和量测新息的均值,按照判定条件选择适合的滤波方法,然后由设计的模糊推理系统在线实时调整系统噪声和量测噪声矩阵,或是调整状态误差协方差阵即强跟踪滤波,使无人机编队飞行即使在恶劣的环境下依然保持确定的队形不变。仿真结果表明,该算法具有较好的自适应效果。 相似文献