CN105843041B - 一种带有未知滞环的小车倒立摆系统积分滑模控制方法 - Google Patents
一种带有未知滞环的小车倒立摆系统积分滑模控制方法 Download PDFInfo
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- CN105843041B CN105843041B CN201610218626.9A CN201610218626A CN105843041B CN 105843041 B CN105843041 B CN 105843041B CN 201610218626 A CN201610218626 A CN 201610218626A CN 105843041 B CN105843041 B CN 105843041B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000002441 reversible effect Effects 0.000 claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000009795 derivation Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
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- 240000007049 Juglans regia Species 0.000 abstract description 4
- 238000005070 sampling Methods 0.000 abstract description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106681144A (zh) * | 2016-12-29 | 2017-05-17 | 德清尚唯机电科技有限公司 | 一种倒立摆的降阶观测器设计方法 |
CN107168069B (zh) * | 2017-07-07 | 2019-08-30 | 重庆大学 | 一种受扰动和未知方向非线性系统的零误差跟踪控制方法 |
CN108958249B (zh) * | 2018-07-06 | 2021-02-26 | 东南大学 | 一种考虑未知控制方向的地面机器人控制系统及控制方法 |
CN108897224B (zh) * | 2018-08-03 | 2021-09-24 | 合肥工业大学 | 一种不确定轮式移动机器人的自适应轨迹跟踪控制方法 |
CN109324504B (zh) * | 2018-12-04 | 2021-08-10 | 东北大学 | 基于全局积分滑模的三阶严反馈混沌比例投影同步方法 |
CN109782589B (zh) * | 2019-03-29 | 2021-05-25 | 东北大学 | 一种基于主动积分滑模的混沌轨迹跟踪方法 |
CN110134011B (zh) * | 2019-04-23 | 2022-01-11 | 浙江工业大学 | 一种倒立摆自适应迭代学习反演控制方法 |
CN110244561B (zh) * | 2019-06-11 | 2022-11-08 | 湘潭大学 | 一种基于干扰观测器的二级倒立摆自适应滑模控制方法 |
CN113359481B (zh) * | 2021-07-21 | 2022-07-15 | 上海交通大学 | 基于滑模控制的倒立摆系统自适应鲁棒h∞控制方法 |
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- 2016-04-08 CN CN201610218626.9A patent/CN105843041B/zh active Active
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CN104393798A (zh) * | 2014-12-10 | 2015-03-04 | 东南大学 | 一种基于积分滑模和扰动观测器的电动自行车控制方法 |
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