一类微驱动器的复合控制及稳定性分析
Stability Analysis for a Class of Micro Actuator under the Compound Control
DOI: 10.12677/AIRR.2020.94028, PDF,    科研立项经费支持
作者: 陈文坤, 陈学松：广东工业大学应用数学学院，广东 广州
关键词: 微驱动器；径向基神经网络；复合控制；稳定性；Micro Actuator； Radial Basis Neural Network； Compound Control； Stability
摘要: 考虑一类基于微驱动器的微分方程摩擦模型，对微驱动器的动态方程进行重构，得到等价状态空间模型。根据该模型，提出了一种新的包括前馈控制、PID控制和径向基神经网络控制的复合控制方法。通过构造合适的李雅普诺夫函数，证明了系统在平衡点是渐近稳定的，且跟踪误差渐近收敛到零。
Abstract: The difference equation model of micro actuator is considered in this paper. An equivalent state space model is derived from the dynamic equation of micro actuator. According to the model, a new compound control method, including feed-forward control, PID control and radial basis network control, is proposed. The stability of the new control method is proved through constructing ac-ceptable Lyapunov function.
文章引用：陈文坤, 陈学松. 一类微驱动器的复合控制及稳定性分析[J]. 人工智能与机器人研究, 2020, 9(4): 246-253. https://doi.org/10.12677/AIRR.2020.94028

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