CAJ | 학술논문

针对连续系统的有限时间目标轨迹预见跟踪控制问题,给出了基于轨迹协调误差和切换规则的预见跟踪控制方法.该方法首先将轨迹协调误差和位置跟踪误差连同状态变量的微分组成新的系统状态变量,把跟踪问题转化为调节问题,设计了基于协调误差的带有目标值预见的跟踪控制系统.然后针对复杂目标轨迹跨过不同坐标轴的情况,采用切换系统方法,实现了目标轨迹的全程预见跟踪控制.本文同时是子系统为时变系统的切换系统的典型范例.数值仿真说明了该方法的有效性.
침대련속계통적유한시간목표궤적예견근종공제문제,급출료기우궤적협조오차화절환규칙적예견근종공제방법.해방법수선장궤적협조오차화위치근종오차련동상태변량적미분조성신적계통상태변량,파근종문제전화위조절문제,설계료기우협조오차적대유목표치예견적근종공제계통.연후침대복잡목표궤적과과불동좌표축적정황,채용절환계통방법,실현료목표궤적적전정예견근종공제.본문동시시자계통위시변계통적절환계통적전형범례.수치방진설명료해방법적유효성.
@@@@A preview tracking control method based on tracking reconciliation error and switch rules was provided to deal with the preview tracking control problem of time-limited objective trajectories in continuous-time systems. This method consists of the following steps. First,the trace reconciliation error,the position tracking error, and the derivative of the state variable are combined into a new system state variable, which transforms the tracking problem into a regulator problem and builds a tracking control system with an objective value preview based on reconciliation error. Second, by means of switching systems, the problem of complicated objective trajectories crossing over different coordinate axes is solved. This leads to the global preview tracking control of objective trajectories. In addition, the paper is also a typical example whose subsystem is a time-varying switching system. Numerical simulation results demonstrate the effectiveness of the suggested method.