基于输入输出线性化,提出一种新型Boost变换器非线性电流控制及其改进方法。通过研究该系统的内动态稳定性,指出对于电流控制(current control method,CCM)Boost变换器,当采用电压模式控制时,其内动态不稳定;当采用电流模式控制时,其内...基于输入输出线性化,提出一种新型Boost变换器非线性电流控制及其改进方法。通过研究该系统的内动态稳定性,指出对于电流控制(current control method,CCM)Boost变换器,当采用电压模式控制时,其内动态不稳定;当采用电流模式控制时,其内动态稳定,可通过直接控制电感电流间接控制输出电压。因此,采用输入输出线性化非线性控制方法,推导出新的电流控制律。实验结果表明,该方法能够保证电感电流有效精确的跟踪给定值,但输出电压存在稳态误差,需对所给控制方案进行修正。进而考虑实际电路附属参数的影响,推导出了修正后的控制律,实验验证了修正方案的正确性,改进后控制系统动稳态性能良好。展开更多
In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking erro...In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking error. The problem is formulated in the form of tracking error optimization in which the quadratic errors of the position, velocity, and acceleration are minimized subject to the rear-wheel car-like robot kinematic model. The input-output linearization technique is employed to transform the nonlinear problem into a linear formulation. By using the variational approach, the analytical solution is obtained, which is guaranteed to be globally exponentially stable and is also appropriate for real-time applications. The simulation results demonstrate the validity of the proposed mechanism in generating an optimal trajectory and control inputs by evaluating the proposed method in an eight-shape tracking scenario.展开更多
文摘基于输入输出线性化,提出一种新型Boost变换器非线性电流控制及其改进方法。通过研究该系统的内动态稳定性,指出对于电流控制(current control method,CCM)Boost变换器,当采用电压模式控制时,其内动态不稳定;当采用电流模式控制时,其内动态稳定,可通过直接控制电感电流间接控制输出电压。因此,采用输入输出线性化非线性控制方法,推导出新的电流控制律。实验结果表明,该方法能够保证电感电流有效精确的跟踪给定值,但输出电压存在稳态误差,需对所给控制方案进行修正。进而考虑实际电路附属参数的影响,推导出了修正后的控制律,实验验证了修正方案的正确性,改进后控制系统动稳态性能良好。
基金supported by the Air Force Research Laboratory and Office of the Secretary of Defense(OSD)(FA8750-15-2-0116)the US Department of Transportation(USDOT)Research and Innovative Technology Administration(RITA)under University Transportation Center(UTC)Program(DTRT13-G-UTC47)
文摘In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking error. The problem is formulated in the form of tracking error optimization in which the quadratic errors of the position, velocity, and acceleration are minimized subject to the rear-wheel car-like robot kinematic model. The input-output linearization technique is employed to transform the nonlinear problem into a linear formulation. By using the variational approach, the analytical solution is obtained, which is guaranteed to be globally exponentially stable and is also appropriate for real-time applications. The simulation results demonstrate the validity of the proposed mechanism in generating an optimal trajectory and control inputs by evaluating the proposed method in an eight-shape tracking scenario.
