共查询到16条相似文献,搜索用时 41 毫秒
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本次测试的飞歌惯导7500Ⅲ明锐专用机,最具特色和亮点的技术就是惯性导航。惯性导航并非尖端科技,但应用于主机后,成为GPS导航极为有效的填补,事实也证明整合了惯导和GPS信号的导航功能在实际中所起到的作用非常明显。 相似文献
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本文研究了干扰与控制非同位一维薛定谔方程的输出跟踪.首先,利用系统的无穷维结构与输出设计了用于估计干扰的无穷维干扰估计器.其次,建立自适应伺服机制使得跟踪误差(u)(1,t)∈L2(0,∞),且闭环系统的所有子系统有界.最后,对闭环系统进行数值模拟,模拟结果表明控制方案的有效性. 相似文献
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针对车载SINS/Odometer速度量测和位置量测组合导航算法的潜在缺陷,提出了改进量测算法.在分析里程计输出误差模型的基础上,将里程计标度因数误差和惯导系统安装偏差均列入状态变量,并将1 s内惯导位置增量和航位推算位置增量之差作为量测值进行组合导航.车载试验使用精度为0.02°/h的激光陀螺捷联惯导系统,采用该算法后行驶54 km,定位精度可达行驶里程的0.08%.离线分析进一步证实,改进算法可以快速估计出各项传感器误差、安装偏差和初始对准误差,从而保证系统的定位和定向精度. 相似文献
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本文讨论边界具有外部扰动和区域内具有反阻尼的一维波动方程的的镇定问题. 主要的方法是后退反演变换和自抗扰控制方法. 即通过扩张状态观测器将扰动在线估计并在反馈控制中实时消除. 本文在扩张状态观测器中使用了两种增益调整策略——常数高增益与时变增益. 为避免常数高增益带来的峰值问题, 在控制环节中使用了饱和方法. 时变的增益可以在很大程度上减少扩张状态观测器中由于常数高增益引起的峰值问题同时可以达到完全消除干扰的镇定效果. 相似文献
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针对存在外界干扰的连续系统,讨论了状态空间模型的离散自适应滑模控制.引入δ算子使离散化后的系统接近于原来的连续系统,并引入干扰估计器得到干扰的近似估计值,使所选的控制律得以实现.当参数未知时,用干扰估计值代替未知干扰,避免了干扰对自适应控制律的影响,从而保证了闭环系统的稳定性. 相似文献
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Disturbance Observer‐Based Elegant Anti‐Disturbance Control for Stochastic Systems with Multiple Disturbances 下载免费PDF全文
Disturbance observer‐based elegant anti‐disturbance control (DOBEADC) scheme is proposed for a class of stochastic systems with nonlinear dynamics and multiple disturbances. The stochastic disturbance observer based on pole placement is constructed to estimate disturbance which is generated by an exogenous system. Then, composite DOBC and controller is designed to guarantee the composite system is mean‐square stable and its performance satisfies a prescribed level. Finally, simulations on an A4D aircraft model show the effectiveness of the proposed approaches. 相似文献
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This paper focuses on a novel feedback linearization control (FLC) law based on a self‐learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC‐BNDO) demonstrates robust control performance only against mismatched time‐invariant uncertainties while the FLC based on SLDO (FLC‐SLDO) demonstrates robust control performance against mismatched time‐invariant and ‐varying uncertainties, and both of them maintain the nominal control performance in the absence of mismatched uncertainties. In the estimation scheme for the SLDO, the BNDO is used to provide a conventional estimation law, which is used as the learning error for the type‐2 neuro‐fuzzy system (T2NFS), and T2NFS learns mismatched uncertainties. Thus, the T2NFS takes the overall control of the estimation signal entirely in a very short time and gives unbiased estimation results for the disturbance. A novel learning algorithm established on sliding mode control theory is derived for an interval type‐2 fuzzy logic system. The stability of the overall system is proven for a second‐order nonlinear system with mismatched uncertainties. The simulation results show that the FLC‐SLDO demonstrates better control performance than the traditional FLC, FLC with an integral action (FLC‐I), and FLC‐BNDO. 相似文献
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The disturbance decoupling control method is investigated for flight control of a flexible air‐breathing hypersonic vehicle (FAHV). First, the longitudinal dynamics of the FAHV are simplified into nonlinear forms with mismatched system disturbances. Then a new nonlinear disturbance observer base on hyperbolic sine function is applied to estimate the mismatched disturbances. The disturbance decoupling control law for flight control of FAHV is deduced theoretically and its proof is provided. Finally, the stability of the closed‐loop control system under the action of disturbance decoupling control law is proved by Lyapunov stability theory. Simulation results exhibit the performance and effectiveness of the proposed disturbance decoupling control law. 相似文献
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This paper presents a solution to the problem of trajectory tracking with external disturbance attenuation in robotics systems via a reduced-order output feedback controller, without velocity measurement. The proposed control law ensures both semi-global asymptotic stability of the closed-loop system and external disturbance attenuation. The approach is based on the notion of the L2-gain and requires to solve two algebraic Riccati inequalities. The proposed controller design is illustrated by a simulation example. 相似文献
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基于微粒群算法解决函数优化问题的优点,提出了使用微粒群算法求解方程组,并给出了求解方程组的通用模型。应用标准微粒群算法求解方程组容易陷入局部极值,导致方程组的解精度不高,并且算法具有较复杂的非线性特性。因此,将微粒群算法作为控制对象,引入单神经元控制器控制算法的惯性权重,将控制器具有的自学习、自适应能力和算法的全局优化特性相结合,用于方程组的求解。实验结果表明,该方法是有效可行的,适合于求解实际工程问题中的高非线性度方程组。 相似文献