共查询到19条相似文献，搜索用时 125 毫秒
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采用无滞后控制系统与滞后控制系统的等价性方法，研究了多组多滞后区间系数中立型非线性时变控制系统的鲁棒镇定问题，给出了区间长度及时滞的估计范围，进而得到了系统渐近稳定的判定条件。此判据包涵了有关文献的结果，结论更具有一般性。 相似文献
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研究一类同时存在系统时变时滞和网络随机时滞的网络控制系统的稳定性问题。首先采用切换方法描述离散线性系统的时变时滞,而利用马尔可夫链描述网络随机时滞;其次,基于线性矩阵不等式形式和V-K迭代算法给出该系统的稳定性判据和控制器设计算法;最后通过仿真实例验证了该方法的有效性和可行性。 相似文献
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应用Lyapunov等价法讨论了多滞后中立型非线性定常控制系统与不带滞后的线性定常控制系统的镇定问题.应用Lyapunov稳定性理论与Krosovskii最大最小特征值定理,得到了多滞后中立型非线性定常控制系统渐近稳定的结论,该结论是对前人结果的进一步扩展,并在非线性项的限制下给出了时滞的界限.最后,将上述结论推广到了多滞后中立型非线性时变控制系统. 相似文献
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本文研究了一类线性常时滞时变系统的有限时间有界与输入-输出有限时间稳定性问题,通过构造Lyapunov泛函,并利用时变的矩阵不等式,分别获得了线性常时滞时变系统的有限时间有界和输入-输出有限时间稳定的充分条件。同时,设计了状态反馈控制器,使得闭环系统有限时间有界且输入-输出有限时间稳定,并通过仿真算例验证了本文方法的有效性。 相似文献
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研究一类多时滞非线性大系统的鲁棒镇定问题。利用大系统的分解法将多时滞非线性大系统分解后,首先讨论了无时间滞后情形关联子系统指数镇定的条件，然后考虑多时滞情形，最终给出了多时滞非线性大系统的指数镇定的充分条件；给出了区间长度范围的计算公式和时间滞后的估计公式；通过对比看出。对参数选取加权的方法是有意义的。 相似文献
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本文研究具有记忆项和时变系数源项的伪抛物方程Dirichlet初边值问题整体解的存在性和渐近稳定性。结合位势井理论、摄动能量法及微分不等式技巧,建立了问题解的整体适定性和渐近稳定性。 相似文献
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研究了一类时滞依赖状态下的广义Duffing型方程周期解的存在性,利用重合度理论得到了方程存在周期解的充分条件和必要条件,所得结果丰富和发展了现有文献的结论. 相似文献
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给出了多输入离散系统的基于时变衰减幂次趋近律的滑模变结构控制方法,并通过时滞变换将结果推广到含有控制时滞的情形。首先选取具有适当增益矩阵的线性切换函数以保证系统在切换面上的理想准滑模运动方程的极点可任意配置。其次基于时变衰减幂次趋近律设计了准滑模控制器,该控制器能够保证两类离散系统的运动轨迹在有限时间内到达准滑模带,然后要么直接转入理想准滑模,要么在准滑模带中以指数幂速率快速趋于理想准滑模,并使系统的运动轨迹能够渐近趋于状态空间的原点,而不再是原点附近某邻域中出现稳定抖振。最后的仿真结果进一步表明了这种方法的有效性。 相似文献
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A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes. 相似文献
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The purpose of this paper is to identify the functional form of the nonlinear roll damping for a particular ship based on an experiment. The problem of damping identification is formulated as an integral equation of the first kind. However, the solution of the problem lacks stability properties, due to the ill-posedness of the first-kind integral equation. To resolve this problem, a stabilization technique (known as a regularization method) is applied to the present problem of the identification of nonlinear damping. The identified results for nonlinear roll dampings are compared with those from a conventional roll identification method. The findings of the present study are validated by the direct comparison of experimental data on free-roll decay motion with the numerically simulated results. 相似文献
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Ｏｎｈｙｄｒａｕｌｉｃｆａｌｌｓｏｆｔｗｏ－ｌａｙｅｒｆｌｏｗ￥ＸｕＺｈａｏｔｉｎｇ;ＬｏｕＳｈｕｎｌｉ;ＴｉａｎＪｉｗｅｉａｎｄＳａｍｕｅｌＳｈａｎｐｎＳｈｅｎ（ＩｎｓｔｉｔｕｔｅｏｆＰｈｙｓｉｃａｌＤｅｅａｎｏｐａｐｈｙａｎｄＰｈｙｓｉｃａｌｏｃ... 相似文献
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Akira Masuda 《Journal of Oceanography》1987,43(4):237-243
An expansion theorem is derived for Rossby normal modes in a closed rectangular basin and the set of Rossby normal modes is proved to be complete. This theorem provides a general linear solution to the initial value problem as well as to the response problem. In particular, the Green's function is obtained for the instantaneous localized torque anywhere in the basin. Weakly nonlinear versions are solved also by the combination of the general linear solution with the asymptotic expansion in terms of small amplitude. Further, an application is suggested to the spectral method of numerical simulation based on Rossby normal modes relevant to the more nonlinear evolution equation on a-plane, instead ofsin functions or Chebyshev polynomials, which have been employed conventionally for this purpose. 相似文献
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The three-dimensional directional stabilization problem is addressed for a slender autonomous underwater vehicle with three inputs: thrust, pitch moment, and yaw moment. The control law reshapes potential energy through feedback. Conditions for asymptotic stability are derived by applying Lyapunov's direct method to a control Lyapunov function constructed from the control-modified energy and other conserved quantities. Analysis proves asymptotic stability and suggests almost global convergence. The dynamic model requires minimal assumptions concerning the viscous force and moment, resulting in a directional controller that is inherently robust to uncertainty in these effects. The directional control algorithm is then extended by incorporating a line-of-sight guidance rule to enable cross-track control, or line following, although the extension requires an additional control moment about the roll axis. Spectral stability analysis provides sufficient conditions for local exponential stability and numerical simulations suggest that stability is almost globally asymptotic. 相似文献
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具有小时滞的线性系统次优控制的无滞后转换法 总被引：1，自引：0，他引：1
该文研究线性时滞定常系统的次优控制问题。根据无滞后转换法的思想 ,先引入状态向量的增量 ,将其视为附加扰动输入 ,再利用微分方程的逐次逼近法 ,将既含有时滞项又含有超前项的两点边值问题化为既不含时滞项又不含超前项的两点边值问题族。然后 ,把第 N次逼近得到的控制律近似为系统的最优控制律 ,得到次优控制律。并用实例仿真验证了该算法的有效性。该方法可使小时滞系统的迭代次数大大减少 ,因此尤其适合于小时滞系统的次优控制。 相似文献
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The accuracy of several asymptotic series expansions for wave speed and particle velocity under the crest of a solitary wave (on a fluid at rest) up to maximum height is investigated. The very accurate numerical results of Williams (1985) are the measure for our comparisons. The results are based on a scaling of calculated properties of long periodic waves to the case of solitary waves.For wave speeds the classical Boussinesq–Rayleigh expression gives good agreement up to a relative wave height of, say, 0.3. An asymptotic fourth-order expression based on Fenton (1990) can be used up to a relative wave height of 0.7, whereas the corresponding fifth-order expression is slightly less accurate.The Eulerian particle velocity profile under the wave crest is examined using a cnoidal wave expression from Fenton (1990) in the limit of the solitary wave. For low waves a `consistent' (i.e. properly truncated) fifth-order expression and an `inconsistent' ditto both coincide with Williams' results. Beginning at medium high waves, the consistent expression surprisingly exhibits oscillations in the velocity profile, and the oscillations become stronger as the wave gets higher. The inconsistent expression, however, yields the same shape as Williams' profile, but is displaced parallel to this, resulting in slightly larger velocities. For high waves also the inconsistent expression begins to differ in shape from Williams' profile, and asymptotic theory fails. Only for low waves `lowest order theory' gives acceptable results. We show analytically that for the highest wave the particle velocity profile has a horizontal tangent at the water surface; this is corroborated by Williams' numerical results.We also study the particle velocity at the wave crest as a function of wave height. It is shown that the variation has a vertical tangent for the highest wave. Two fifth-order asymptotic series for this velocity, based on the wave speed through the Bernoulli equation, show very good agreement with Williams up to a relative wave height of about 0.6.It is finally shown that it is possible to produce very accurate rational-function approximations to Williams' results for the wave speed as well as for the particle velocity at the wave crest. 相似文献
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以单位四元数描述遥感影像共线条件方程,建立基于单位四元数的光束法平差模型。针对共线条件方程的非线性问题,基于LM(Levenberg-Marquardt)方法解算单位四元数光束法平差模型,并引入丹麦法实现无人机影像外方位元素的抗差估计。基于仿真数据和无人机影像对该方法进行了验证,结果表明:与基于单位四元数的无初值依赖算法进行比较,LM方法具有与单位四元数法相当的可靠性;引入丹麦法方法后可消除粗差观测值对参数估计的不利影响,得到较高精度的外方位元素估值。 相似文献