👨🎓个人主页:研学社的博客
💥💥💞💞欢迎来到本博客❤️❤️💥💥
🏆博主优势:🌞🌞🌞博客内容尽量做到思维缜密,逻辑清晰,为了方便读者。
⛳️座右铭:行百里者,半于九十。
📋📋📋本文目录如下:🎁🎁🎁
目录
💥1 概述
文献来源:
本文研究了边界控制的无限维波特-哈密顿系统的鲁棒输出跟踪和抗扰,包括欧拉-伯努利梁方程等二阶模型。控制设计采用内部模型原理,稳定性分析采用李雅普诺夫方法实现。与关于同一主题的现有工作相反,没有对所考虑的偏微分方程类的外部适定性做出假设。研究结果应用于原子力成像中使用的压电驱动管的鲁棒跟踪。
原文摘要:
Abstract:
This article studies robust output tracking and disturbance rejection for boundary-controlled infinite-dimensional Port–Hamiltonian systems including second-order models such as the Euler–Bernoulli beam equation. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic, no assumption is made on the external well-posedness of the considered class of PDEs. The results are applied to robust tracking of a piezo actuated tube used in atomic force imaging.
📚2 运行结果
部分代码:
% %%--Beam Parameters--%%
L = 0.05; % Lenght
La = 0.003; % Width
Ep = 0.002; % Thickness
As = La*Ep; % Trasversal section Surface
rho = 936; % Density
E = 4.14e+09; % Elastic modulus
Kp = E/(2*(1+0.46)); % Shear modulus
I = (Ep^3*La)/12; % Moment of inertia
Irho = I*rho;
EI = E*I;
rhoA = rho*As;
rt=1e-4; % Translational Dissipation
rr=1e-4; % Totational Dissipation
%%--Discretization parameters--%%
Lab = L/N;
spgrid = linspace(0,L,N+1);
%%--Discretized system parameters--%%
Rho_ab = rhoA*Lab;
Irho_ab = Irho*Lab;
Kp_ab = Kp/Lab;
EI_ab = EI/Lab;
%%--Matrices construction--%%
%--Interconnection matrix--%
Ji = zeros(N);
for k=1:N
for j=1:N
if k == j
Ji(k,j) = -2;
elseif j > k
Ji(k,j) = 0;
else
Ji(k,j) = 4*(-1)^(k+j-1);
end
end
end
S = zeros(N);
for k=1:N
for j=1:N
if k == j
S(k,j) = -Lab;
end
end
end
J=[zeros(N), Ji, zeros(N), S;
-Ji', zeros(N), zeros(N) , zeros(N);
zeros(N), zeros(N), zeros(N), Ji;
-S', zeros(N), -Ji', zeros(N)];
%--Energy Matrix--%
Q = zeros(4*N);
for i=1:4*N
for j=1:4*N
if i==j
if i<=N
Q(i,j)=Kp_ab;
elseif (i>N) && (i<=2*N)
Q(i,j)=1/Rho_ab;
elseif (i>2*N) && (i<=3*N)
Q(i,j)=EI_ab;
elseif (i>3*N) && (i<=4*N)
Q(i,j)= 1/Irho_ab;
end
end
end
end
%--Dissipation Matrix--%
Rt=zeros(N);
for i=1:N
for j=1:N
if i == j
Rt(i,j) = rt*Lab;
end
end
end
Rr=zeros(N);
for i=1:N
for j=1:N
if i == j
Rr(i,j) = rr*Lab;
end
end
end
R=[zeros(N,4*N); zeros(N), Rt, zeros(N,2*N); zeros(N,4*N); zeros(N,3*N), Rr];
%%--Dynamic System--%%
A=(J-R)*Q;
B = zeros(4*N, 1);
for j=3*N+1:4*N
B(j,1)=(-1)*(-0.5)^(j-1)/0.5^j;
end
C=B'*Q;
D = 0;
%%--System Definition--%%
Sys=struct;
Sys.A=A;
Sys.B=B;
Sys.Bd = B; % Input disturbance
Sys.C=C;
Sys.D=D;
Sys.Dd=D; % Input disturbance
% Initial state of the system (the zero initial state x0=0)
x0 = zeros(size(A,1),1);
🎉3 参考文献
部分理论来源于网络,如有侵权请联系删除。
[1]Lassi Paunonen, Yann Le Gorrec (2021) Robust Regulation of a Boundary Controlled Timoshenko Beam Model