滑模預(yù)測變結(jié)構(gòu)控制及其在倒立擺系統(tǒng)中的應(yīng)用.pdf

1、浙江大學(xué)信息科學(xué)與工程學(xué)院碩士學(xué)位論文滑模預(yù)測變結(jié)構(gòu)控制及其在倒立擺系統(tǒng)中的應(yīng)用姓名：黃斌申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：蘇宏業(yè)20070801AbstractSlidingmodevariablestructureeontr01(SMVSC)whichis姐importantbranehofnonlinearcontroltheoz‘y9h鼬atlraetcdinoFeandmOlrleattentionbl文lt

2、liScofitsp蝴featuresofarbitraryrobustnessandcompleteadaptationtomatchinguncertaintiesandexternaldistmbanecsInrecentyearsinordertoo／elCOlnCtheslaorteomingof$MVSC鋤dal’plyitintonlorcactualproductions$MVSCi8eonbincdwithotlaet

3、controlnMjofi髓bymanyresearchersVariablostructurecontrolOCSC)basedOnslidingmodepredictionusesrecedinghorizonoplimization鋤dfeedbackconl娥iontooptilllizefilerenehingInOe∞SofslidingmodeforthepUlpOSl：ofchatteringe“hminationand

4、enlumeingrobustnessSOIIltjproblemsofVSCbasedonslidingmodoprediction礬studiedinthisthesisandthemaincorltcnt8ofita∞outlinedasfollowsi)Anewdiscretereachinglawispresentedinordertodealwimtheflawwhielaexitsinconventionalvariabl

5、estructurereachinglIIWmethodTheconvclrgcnceofn鉀reachinglawfornominalanduncertainsystemsisprovedGoodperformanceandrobustnessofthisreachinglawisshowedbysimulationsii)Themethodofslidingmodepredictioncontrollerdesignedandthe

6、guidelinefortuningparametersisintroducedThemoduleofslidingmodepredictionisconstructedtoachievetherealtimesimulationFinallytheresultofcomparisonwithconventionalvariablecontrolshowesthatthemethodofslidingmodepredictionhass

7、mallersteadystateelTOFandgoodrobustnesswhenthetmeertaintyandexternaldisturbanceofsystemsalestrongiii)SlidingroodepredictioncontrollerisusedfortheresearchofbalancingandselferectingcontrolofsinglependulumTheexperimentresul

8、tsaleillustratedtheinfluenceofthepredictivedomainandthegoodl蒯ormaneeofslidingmodopredictioniv)Based∞theforegoingchaptersthemethodofslidingmodepredielionissuccessfullyusedtothedoublependulumTheexperimenthasconfirmedthisme

9、thodpossessesrobustnesstothehigherordernonlinearsystemandlaidthefoundationformoreeomplexedpendulumThelastdIaptcrflUlmlalltizcsthethesisandsiresp盱specnVeIbyworclls：Slidingmodepredictiondiscretevariableslnlcllllereachingla