基于混杂系统设计的网络视觉伺服系统轨迹跟踪控制研究

项目名称： 基于混杂系统设计的网络视觉伺服系统轨迹跟踪控制研究

项目编号： No.61304077

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 王浩平

作者单位： 南京理工大学

项目金额： 25万元

中文摘要： 近年来，网络视觉伺服系统（NVSS）已成为国际学术及工程界的研究热点。本项目拟针对其可变采样、延时及参数不确定三大难点，提出基于包含切换与被控脉冲单元的一类特殊混杂系统，即间断运行混杂系统（PFHS）的状态观测与轨迹跟踪控制方法。首先，针对参数不确定的连续无延时系统，寻找有效方法改进基于PFHS的经典间断运行控制器及基于此的循环无模型轨迹跟踪器。其次，针对可变采样、延时且参数不确定的网络视觉伺服系统，基于PFHS结合滑动视窗线性化、数值插值、代数方法及Luenberger状态观测理论重构系统的连续无延时状态。再次，结合上两部分研究成果，进行输出轨迹跟踪控制研究。最后，本项目拟通过新一代dSPACE数控技术构造实物在环仿真平台，验证上述理论方法的有效性。预期成果将进一步丰富和完善NVSS理论，可为工业生产、智能交通与机器人导航系统在网络通信条件下的轨迹跟踪控制提供新的思路与技术途径。

中文关键词： 间断运行混杂系统；循环迭代无模型轨迹控制；新型自适应控制器；间断连续观测器；网络事件触发控制

英文摘要： In recent years, the Networked Visual Servoing Systems(NVSS) has became the resarch focus of the international academic and engineering communities. This project plans to deal with NVSS three major difficulities of variable sampled delayed and uncertain system parameters, and makes use of a special class of hybrid systems which includs switchings and controlled impulses, called Piecewise Functionning Hybrid Systems (PFHS), to develop state observation and trajectories tracking control methods. Firstly, in view of uncertain continuous undelayed systems, the project tries to find effective ways to improve the performances of Classical Piecewise Continuous Controllers (CPCC) and the CPCC based Recursive Model Free Controller (RMFC). Reminding that the CPCC are derived by using the PFHS impulse effects. Secondly, by considering the variable sampled delayed and uncertain parameters NVSS, the project estimates the systems continuous undelayed state with the applications of PFHS, and combined with the approaches of linearization methods with sliding window, numerical interpolations methods, algebraic techniques and Luenberger state observation theory. Thirdly, the project deals with the NVSS output trajectory tracking control with former research results of state observer and CPCC/RMFC. Finally, the project builds, ex

英文关键词： Piecewise Functionning Hybrid Systems；Recursive Model Free trajectory Tracking Control；New Type Adaptive Controller；Piecewise Continuous Observer；Networked Event-Triggered Control