Dong Fangfang, Jin Dong, Zhao Xiaomin, Han Jiang, Lu Wei
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230009, PR China; Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, Anhui, 230009, PR China.
School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, Anhui, 230009, PR China.
ISA Trans. 2022 Jun;125:119-133. doi: 10.1016/j.isatra.2021.06.031. Epub 2021 Jun 28.
Aiming at the time-varying bounded uncertainty in the mechanical system and the problem of excessive control gain caused by the "worst case", a robust control with tunable parameters that can be used to compensate for the uncertainty is proposed. The proposed control can guarantee that the system has uniform boundedness and uniform ultimate boundedness. Besides, the fuzzy set theory is used to describe the uncertainty to avoid introducing any IF-THEN fuzzy logic rules or probability theory. Based on the non-cooperative game theory, the parameters of the proposed control are optimized. We treat mutually independent parameters to be optimized as players, then design performance indexes for each parameter as its cost function, and solve the optimal result by the definition of Nash equilibrium. Finally, taking the trajectory tracking control of omnidirectional mobile platform as an example, the feasibility of the optimization method and the effectiveness of the control are verified by comparing with the other two control methods.
针对机械系统中时变有界不确定性以及“最坏情况”导致控制增益过大的问题，提出一种可用于补偿不确定性的参数可调鲁棒控制方法。所提出的控制方法能够保证系统具有一致有界性和一致最终有界性。此外，采用模糊集理论描述不确定性，避免引入任何“如果-那么”模糊逻辑规则或概率论。基于非合作博弈论，对所提出控制方法的参数进行优化。将相互独立的待优化参数视为参与者，然后为每个参数设计性能指标作为其代价函数，并通过纳什均衡的定义求解最优结果。最后，以全向移动平台的轨迹跟踪控制为例，与另外两种控制方法进行比较，验证了优化方法的可行性和控制方法的有效性。
