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计及位置不确定的喷雾机喷杆系统仿形姿态渐近跟踪控制

芦泽阳 李树江 王向东

芦泽阳,李树江,王向东. 计及位置不确定的喷雾机喷杆系统仿形姿态渐近跟踪控制 [J]. 应用数学和力学,2022,43(2):132-141 doi: 10.21656/1000-0887.420147
引用本文: 芦泽阳,李树江,王向东. 计及位置不确定的喷雾机喷杆系统仿形姿态渐近跟踪控制 [J]. 应用数学和力学,2022,43(2):132-141 doi: 10.21656/1000-0887.420147
LU Zeyang, LI Shujiang, WANG Xiangdong. Asymptotic Tracking Control on Profiling Posture of Sprayer Boom Systems With Position Uncertainties[J]. Applied Mathematics and Mechanics, 2022, 43(2): 132-141. doi: 10.21656/1000-0887.420147
Citation: LU Zeyang, LI Shujiang, WANG Xiangdong. Asymptotic Tracking Control on Profiling Posture of Sprayer Boom Systems With Position Uncertainties[J]. Applied Mathematics and Mechanics, 2022, 43(2): 132-141. doi: 10.21656/1000-0887.420147

计及位置不确定的喷雾机喷杆系统仿形姿态渐近跟踪控制

doi: 10.21656/1000-0887.420147
基金项目: 国家重点研发计划(2016YFD0700104)
详细信息
    作者简介:

    芦泽阳(1993—),男,硕士(通讯作者. E-mail:lzyluxiaoyang@126.com

  • 中图分类号: O231

Asymptotic Tracking Control on Profiling Posture of Sprayer Boom Systems With Position Uncertainties

  • 摘要:

    针对喷雾机喷杆仿形系统中同时存在负载变化、未建模不确定项、物理参数摄动以及外部干扰等问题, 提出了一种基于小波网络逼近的具有自适应性和鲁棒性的反步控制方法。首先,将含有不确定、未知和非线性项的喷杆仿形系统建立为完整的数学模型,将其等价转化为具有严格反馈的状态空间形式;其次,采用设计的小波基元去构造神经网络,在满足最优误差有界条件下逼近反步法中虚拟等效控制部分,选取自适应更新律估计系统中存在的未知参数,引入鲁棒补偿项减小复合干扰对系统的不利影响,降低了输入指令信号的阶次要求;最后,通过构造合适的Lyapunov函数,应用稳定性理论证明了闭环系统位置跟踪误差渐近收敛到原点。仿真结果表明, 所提控制方法可实现喷雾机喷杆位置姿态快速升降机动调整,有效地增强了喷杆系统的鲁棒稳定性和控制精度。

  • 图  1  喷杆仿形控制系统结构图

    Figure  1.  The structure diagram for the spray boom posture profiling control system

    图  2  仿形位置跟踪曲线与跟踪误差曲线

    Figure  2.  The profiling position tracking curve and the tracking error curve

    图  3  逼近估计曲线

    Figure  3.  The approximating estimate curves

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出版历程
  • 收稿日期:  2021-05-27
  • 录用日期:  2021-05-27
  • 修回日期:  2021-08-31
  • 网络出版日期:  2022-01-08
  • 刊出日期:  2022-02-01

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