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

作　　者：陈文坤 陈学松[1] 

机构地区：[1]广东工业大学应用数学学院,广东 广州

出　　处：《人工智能与机器人研究》2020年第4期246-253,共8页Artificial Intelligence and Robotics Research

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。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.

关 键 词：微驱动器 径向基神经网络 复合控制 稳定性 

分 类 号：O17[理学—数学]