Control of Nonlinear Complex System with Variable Constraint

1.提出了一种综合考虑内部约束力和冲击脉冲约束力的非线性复杂系统建模方法。该方法将多关节系统运动所需的约束力明确表示出来，并通过控制实现约束和运动的同时调节。提出了一种变约束控制算法来显式地控制脉冲力，并将其应用于一个杂耍系统中。实验结果验证了该方法的有效性。2.利用状态相关Riccati方程（SDRE）设计了非线性系统的镇定控制器。确定了控制律的计算步骤。作为一个实现例子，给出了一个倒立摆控制系统的强鲁棒性，并证明了该控制系统对倒立摆的起摆和稳定都具有较强的鲁棒性 关于我们 不断地。特别地，基于著名的混沌镇定方法OGY方法，设计了周期镇定控制器，使系统到达具有一定周期的极限环。实验结果验证了变结构控制的有效性。4.采用变结构控制方法，研究了在不同初始角度、不同初始转速、不同变结构控制器增益和超平面的情况下，倒立摆从摆起到稳定在倒立位置的时间间隔。提出了用颜色来表示系统相对于初始条件和控制器参数的稳定程度。5.提出了非线性系统的SDRE滑模变结构控制、不含稳定子系统的混杂系统的混杂滑模变结构控制和自适应变结构微分器。少

1.A modeling approach for nonlinear complex systems is proposed taking the internal constraint force and the impulse constraint force resulted from impacting into consideration. The constraint force, which is required for the movement of multi-joints systems, is expressed explicitly and controlled to adjust the constraint and the movement simultaneously. A variable constraint control algorithm is proposed to control the impulse force explicitly and implemented in a pendulum-type juggling system. The experimental results show the effectiveness.2.A stabilization controller for nonlinear systems is designed with the state-dependent Riccati Equation(SDRE). Steps for the calculation of the control law are confirmed. As an implementation example, strong robustness of a pendulum control system for both the swing-up and the stabilization at its inverted position was achieved.3.A controller is designed for variable constraint systems, which move in a limit cycle while the constraint changes dis … More continuously. Especially, based on the OGY approach known as a famous chaos stabilization approach, a period stabilization controller, which leads the system to a limit cycle with a certain period, is proposed. The experimental result with a passive walking robot shows the validity.4.With the variable structure control, the time interval for an inverted pendulum to be stabilized at its inverted position from being swung up is investigated for different initial angles, different initial rotation speeds and different gains and hyper planes of the variable structure controller. It is proposed to express the degree of stability with respect to the initial condition and controller parameters by the color. The resulted colored picture is given by a similar idea of the Julia and the Mandelbrot sets.5.A sliding sector control with SDRE for nonlinear systems, a hybrid sliding sector control for hybrid systems without stable subsystems and an adaptive variable structure differentiator are proposed. Less