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一类微驱动器的复合控制及稳定性分析
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Abstract:
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.
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