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随机分布控制及其在焊缝跟踪系统中的可行性研究
其他题名Stochastic distribution control and its feasibility research on seam tracking systems
陈海永
学位类型工学博士
导师王宏 ; 徐德
2008-05-19
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词概率密度函数 B样条函数 最优控制 迭代学习控 焊缝建模 宏微机器人 Probability Density Function b Spline Function Optimal Control Iterative Learning Control Seam Tracking Seam Modelling Macro-micro Robot
摘要传统的随机系统控制主要是控制随机系统输出的均值和方差等统计特性。近几年来,随机系统控制出现一个新的分支,即随机分布控制。这类系统的主要特点是其输出为系统变量的概率密度函数,输入为常规意义下的时间向量。本文针对随机分布控制系统的建模、控制和应用进行了深入研究,包括随机分布控制系统的建模、控制、系统分析以及在焊缝跟踪系统中的应用等。本文的主要工作及贡献如下: 1. 对一类参数随机变化的非高斯随机系统,建立了基于B样条模型的随机分布系统模型, 完成了状态反馈和输出反馈跟踪控制器的设计。 2. 对一类非线性动态随机系统,采用线性B样条函数逼近得到了有界动态随机系统的静态数学模型。用线性时系统序列逼近非线性模型,同时得到线性模型的控制器,进而实现随机分布控制。 3.针对三维曲线焊缝,使用参数B样条最小二乘或多项式最小二乘法得到示教逼近模型和实时焊缝模型,并对比了两种焊缝建模方法的性能。 4.基于宏微机器人,分别研究了三维焊缝的跟踪和平面S型焊缝的跟踪控制问题。 5.针对受非高斯噪声干扰的机器人系统,提出了一个机器人系统的迭代学习概率密度函数控制框架,开发了轨迹跟踪误差概率密度函数控制方法,并分析了算法的稳定性。
其他摘要Traditional control techniques are mainly concerned with mean and/or variance of the variable in stochastic systems. Recently, the controllers design is focussed also on shaping the probability density function(PDF),which is a new topic in stochastic control research, where the system has its input as a deterministic variable and its output as the PDF of the system output. The study of SDC systems includes mathematic modelling,the controller design and the closed systems analysis. In this thesis, the modelling, control and applications of the stochastic distribution systems (SDC) will be described. The main works and innovative contributions in this thesis are summarized as follows. 1. For the stochastic parameter system , its model is developed based on the B spline. Furthermore, the control strategy based on state feedback and output feedback are established by solving several linear matrix inequalities. 2.Using the linear B-spline approximation, a affine nonlinear state space model and PDF approximation equation can be obtained. Using a linear time-varying system iteration the optimal track control of nonlinear dynamic stochastic system has been obtained. Moreover, PDF tracking control is realized. 3. The modeling method of three dimension curve welding seam is presented based on macro-micro robot, which includes a simple teaching model and a real- time seam model. It has been shown that the model can be obtained by using cubic parameter B-spline least square method and polynomial least square method. The modeling performance is compared based on the two methods. 4. Based upon the macro-micro robot, the tracking control of three dimension seam and 'S' type of planar seam are studied, respectively. 5. The probability density function (PDF) control method has been developed to deal with the random tracking error for a class of robotic manipulator that are subjected to non-Gaussian noises, where noises follow non-Gaussian probability distribution. The iterative learning control (ILC) framework on the PDF control approach of manipulators system with non-Gaussian noises has been proposed and a recursive optimization solution batch-by-batch has been developed.In addition, the convergence condition of the tracking control algorithm has been analyzed.
馆藏号XWLW1246
其他标识符200518014628020
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/6056
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
陈海永. 随机分布控制及其在焊缝跟踪系统中的可行性研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2008.
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