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基于权值范围设置的多模型稳定切换控制研究
Alternative TitleStability switching of multiple models based on weighting setting
周焕银; 刘开周; 封锡盛
Department水下机器人研究室
Source Publication控制与决策
ISSN1001-0920
2012
Volume27Issue:3Pages:349-354
Indexed ByEI ; CSCD
EI Accession number20121614949802
CSCD IDCSCD:4475208
Contribution Rank1
Funding Organization中科院知识创新工程重要方向项目(YYYJ-0917); 国家重点基础研究项目(6138102008-4); 江西省教育厅科技项目(GJJ10171)
Keyword加权多模型 加权因子 平滑切换 Lyapunov函数 自主水下机器人
Abstract针对线性加权多模型切换过程中权值难以确定问题,提出了具有Lyapunov函数的多模型稳定切换的充分条件,依据该充分条件可以确定加权多模型的权值范围和快速获取加权因子的取值,实现多模型的平滑切换.所提出的充分条件克服了多模型子系统必须稳定的苛刻条件,通过对自主水下机器人多运动模型切换过程的仿真实验表明,依据权值范围所给定的加权因子能够保证加权多模型切换过程中的渐近稳定性.
Other AbstractThis paper presents some sufficient criterions for stabile switching of weighted multiple linear systems whose control performances are considered during switched process.By these criterions,the weighting regions can be obtained quickly.Meanwhile,the value of weighting factors of every switched sub-system can be assured to make smoothly switch.All these criterions deal with the restrictive condition of vector field commute.Some control simulations on AUV(autonomous underwater vehicle) different motions control are performed by using the proposed switched control algorithm.Simulation results show that the preset weight values by presented criterions can ensure the stability of multi-model switching. 
Language中文
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9979
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.东华理工大学机械与电子工程学院
3.中国科学院研究生院
Recommended Citation
GB/T 7714
周焕银,刘开周,封锡盛. 基于权值范围设置的多模型稳定切换控制研究[J]. 控制与决策,2012,27(3):349-354.
APA 周焕银,刘开周,&封锡盛.(2012).基于权值范围设置的多模型稳定切换控制研究.控制与决策,27(3),349-354.
MLA 周焕银,et al."基于权值范围设置的多模型稳定切换控制研究".控制与决策 27.3(2012):349-354.
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