Research On Finite-time Control And Unmanned Vehicle Application Based On Observer Method

In practical industrial systems,stability is a prerequisite for normal operation.With the continuous advancement of industrial automation technology,the requirements for system stability are becoming increasingly strict,making the study of system stability of great significance.However,the actual operating environment of the system is usually very complex and contains many uncertain factors,and its stability is often affected by external factors such as braking,load changes,and transmission delays,which means that the information of many state variables cannot be directly applied.To obtain the necessary state information,it is necessary to design a complex sensor system.However,once the sensor system fails,inaccurate measurement of state variables can affect system stability.In this case,designing an observer system is necessary and can effectively reduce redundancy and improve safety.Therefore,this dissertation studies the finite-time control problem of nonlinear systems based on the observer method.The specific research contents are as follows:(1)Finite-time robust stabilization control of nonlinear systems based on observer method.In this dissertation,the Hamilton function method is used to study the finite-time robust stabilization control problem based on observer for a class of generalized nonlinear systems.At the same time,new finite-time robust control results are proposed for possible external disturbances that may exist in the actual operation of the system.Finally,the developed control scheme is applied to an unmanned vehicle model,and a control module is built on the MATLAB simulation platform to verify the effectiveness of the controller.(2)Finite-time robust stabilization control of nonlinear time-delay systems based on observer method.Building on(1),this dissertation further considers the uncertainties and time-delay problems that exist in actual working environments.It studies the finite-time robust stabilization control problem for a class of nonlinear time-delay uncertain systems based on observer method and designs observer system and robust stabilization controller.Finally,the developed control scheme is applied to a time-delay system model of unmanned vehicles and a control module is built on the MATLAB simulation platform to verify the effectiveness of the controller.(3)To verify the effectiveness of the proposed control algorithm,this dissertation further conducted a semi-physical co-simulation using ADAMS and MATLAB.Firstly,the model of unmanned vehicle system is constructed,and the constraints of the components are set up,as well as relevant operations of the state variables.Then,a suitable simulation environment is built,and the connection between ADAMS and MATLAB is established for co-simulation.Finally,the simulation results are analyzed.This dissertation comprehensively considers the issues of external disturbances,time delays,and uncertainties that nonlinear systems face in actual operating environments.To address the problems of unmeasurable state variables and redundant sensor systems,a finite-time robust stabilization controller based on the observer method is designed.It should be noted that,unlike existing literature on Hamiltonian systems,the Hamiltonian function selected in this dissertation has different orders,which means that the proposed method and results are more practical.