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A trajectory tracking control method for a cricket system

A technology of trajectory tracking and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of difficult to achieve satisfactory control effect, and achieve the effect of high-precision tracking performance

Active Publication Date: 2022-03-29
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although some literature uses advanced control algorithms such as sliding mode control to solve the trajectory tracking problem of the cricket system, it is often based on a simplified cricket system model, and it is difficult to achieve satisfactory control results.

Method used

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  • A trajectory tracking control method for a cricket system
  • A trajectory tracking control method for a cricket system
  • A trajectory tracking control method for a cricket system

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Embodiment Construction

[0092] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them.

[0093] A track tracking control method for a cricket system, comprising the following steps:

[0094] Step 1, establish a nonlinear mathematical model of the cricket system, the process is as follows:

[0095] Assuming that the ball is always in contact with the flat plate and the sliding friction between the crickets is negligible, the mathematical model of the cricket system is described as follows:

[0096]

[0097] in, Respectively represent the displacement, velocity, acceleration, Respectively represent the deflection angle, deflection angular velocity and deflection angular acceleration of the flat plate in the x-axis and y-axis directions, m rep...

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Abstract

The invention discloses a track tracking control method of a cricket system, which comprises the following steps: step 1, establishing a nonlinear mathematical model of the cricket system; step 2, describing the track tracking control problem of the cricket system as a nonlinear Linear servo control problem; step 3, based on the theory of nonlinear output regulation, using a third-order polynomial to approximate the solution of the regulator equation, and designing a third-order state feedback controller. The invention designs a feedback controller based on the nonlinear mathematical model of the cricket system, solves the problem of track tracking control of the system under the time-varying reference signal, and has high-precision tracking performance.

Description

technical field [0001] The invention relates to the field of nonlinear system control, in particular to a track tracking control method of a cricket system. Background technique [0002] In recent decades, nonlinear output regulation theory has received extensive attention in the control community, and its remarkable advantages lie in its ability to achieve various control objectives such as trajectory tracking, disturbance suppression, and robustness. Commonly used control strategies include feedback control and internal model control. The cricket system is a nonlinear, strongly coupled, multi-variable MIMO system, which is often used to test various advanced control algorithms. The trajectory tracking control problem of cricket system can be described as a nonlinear servo control problem. Although some literatures use advanced control algorithms such as sliding mode control to solve the trajectory tracking problem of the cricket system, it is often based on a simplified ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 平兆武李坤鹏宋阳黄云志
Owner HEFEI UNIV OF TECH
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