%0 Journal Article
%T 一类微驱动器的复合控制及稳定性分析<br>Stability Analysis for a Class of Micro Actuator under the Compound Control
%A 陈文坤
%A 陈学松
%J Artificial Intelligence and Robotics Research
%P 246-253
%@ 2326-3423
%D 2020
%I Hans Publishing
%R 10.12677/AIRR.2020.94028
%X 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。<br />
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.
%K 微驱动器，径向基神经网络，复合控制，稳定性<br>Micro Actuator
%K Radial Basis Neural Network
%K Compound Control
%K Stability
%U http://www.hanspub.org/journal/PaperInformation.aspx?PaperID=38550