Control Engineering Practice最新文献_第2页

Lane-free signal-free intersection crossing via model predictive control 通过模型预测控制实现无车道无信号交叉口穿越

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106115

Mehdi Naderi , Panagiotis Typaldos , Markos Papageorgiou

The operation of signal-free intersections, where Connected Automated Vehicles (CAVs) cross simultaneously for all Origin-Destination (OD) movements, has the potential to greatly increase throughput and reduce fuel consumption. Since the intersection crossing areas naturally include no lanes, an extended crossing area, appropriately delineated, can be considered as a lane-free infrastructure so as to enable further efficiency benefits. This paper presents two Model Predictive Control (MPC) schemes to manage CAVs in signal-free and lane-free intersections. In fact, the control inputs of all vehicles are optimized over a time-horizon by online solving of a joint Optimal Control Problem (OCP) that minimizes a cost function including proper terms to ensure smooth and collision-free vehicle motion, while also considering fuel consumption and desired-speed tracking, when possible. Additionally, appropriate constraints are designed to respect the intersection boundaries and ensure smooth vehicle movements towards their respective destinations. A fast Feasible Direction Algorithm (FDA) is employed for the numerical solution of the introduced OCP. Multiple simulations are carried out to assess the efficiency and practicality of the proposed methods. A comparison with signalized intersection operation is provided.

在无信号灯交叉路口，互联自动驾驶车辆（CAV）可同时穿越所有起点-终点（OD）运动，这有可能大大提高吞吐量并降低油耗。由于交叉路口的交叉区域自然不包括车道，因此可将适当划定的扩展交叉区域视为无车道基础设施，从而进一步提高效率。本文提出了两种模型预测控制（MPC）方案，用于在无信号灯和无车道交叉路口管理 CAV。事实上，所有车辆的控制输入都是通过在线求解联合最优控制问题（OCP）在时间范围内进行优化的，该问题可使成本函数最小化，其中包括适当的条款，以确保车辆运动平稳、无碰撞，同时在可能的情况下还考虑到油耗和理想速度跟踪。此外，还设计了适当的约束条件，以尊重交叉路口的边界，确保车辆平稳地驶向各自的目的地。采用快速可行方向算法（FDA）对引入的 OCP 进行数值求解。为了评估所建议方法的效率和实用性，我们进行了多次模拟。此外，还提供了与信号灯路口运行的比较。

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引用次数: 0

Active disturbance rejection path tracking control of vehicles with adaptive observer bandwidth based on Q-learning 基于 Q-learning 的自适应观测器带宽的车辆主动干扰抑制路径跟踪控制

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-11-04 DOI: 10.1016/j.conengprac.2024.106137

Longqing Li , Kang Song , Guojie Tang , Wenchao Xue , Hui Xie , Jingping Ma

In this paper, a novel algorithm for vehicle path tracking control is introduced, focusing on maintaining tracking accuracy and minimizing steering wheel oscillation to enhance mechanism lifespan and passenger comfort. Vehicle kinematics model is utilized to formulate a second-order dynamic equation for lateral error, integrating yaw error into the standard first-order dynamic equation. A Proportional-Derivative (PD) controller is designed, incorporating an ‘extended state’ to compensate for the discrepancy between the model and actual vehicle dynamics, termed as the ‘total disturbance’. This ‘total disturbance’ is observed by an Extended State Observer (ESO), and a disturbance rejection law, combined with the PD controller, is employed to achieve the desired yaw rate. For improved vehicle safety and comfort, a dynamic constraint on the yaw rate, based on the vehicle’s motion and dynamic principles, is proposed. The vehicle’s nonlinear dynamics are addressed through feedback linearization, converting the target yaw rate into the required steering angle, which is then executed by the steer-by-wire system. An adaptive online algorithm for adjusting the ESO bandwidth, using Q-learning, is implemented. This optimization aims to balance tracking accuracy and steering wheel oscillation. A mathematical analysis confirms the stability of the time-varying bandwidth ESO and the overall system, ensuring limited estimation and control errors. Experimental comparison with the classical Stanley and Model Predictive Control (MPC) method demonstrates the algorithm’s effectiveness, maintaining lateral error within ±0.1 m.

本文介绍了一种新的车辆路径跟踪控制算法，重点是保持跟踪精度和尽量减少方向盘摆动，以提高机构寿命和乘客舒适度。利用车辆运动学模型制定了横向误差的二阶动态方程，并将偏航误差整合到标准的一阶动态方程中。设计了一个比例-派生（PD）控制器，其中包含一个 "扩展状态"，用于补偿模型与实际车辆动态之间的差异，即 "总干扰"。这种 "总扰动 "由扩展状态观测器（ESO）进行观测，并采用扰动抑制法则与 PD 控制器相结合，以实现所需的偏航率。为了提高车辆的安全性和舒适性，根据车辆的运动和动态原理，提出了偏航率动态约束。通过反馈线性化处理车辆的非线性动态，将目标偏航率转换为所需的转向角，然后由线控转向系统执行。利用 Q-learning 实现了调整 ESO 带宽的自适应在线算法。这种优化旨在平衡跟踪精度和方向盘振荡。数学分析证实了时变带宽 ESO 和整个系统的稳定性，确保了有限的估计和控制误差。与经典斯坦利和模型预测控制（MPC）方法的实验对比证明了该算法的有效性，可将横向误差保持在 ±0.1 米以内。

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引用次数: 0

Study of control strategy for cylinder-to-cylinder combustion homogeneity of marine medium-speed diesel engines 船用中速柴油机汽缸间燃烧均匀性控制策略研究

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-11-04 DOI: 10.1016/j.conengprac.2024.106156

Shunhua Ou , Yonghua Yu , Nao Hu , Lei Hu , Jianguo Yang

Closed-loop combustion control (CLCC) is an efficient method for minimizing cylinder-to-cylinder combustion variation by adjusting individual cylinder fuel injection parameters. It is complementary to the closed-loop speed control, which precisely controls the engine speed by manipulating the global fuel injection parameters. However, the application of CLCC changed the conventional closed-loop speed control to a complex control structure. In addition, the selection of combustion control parameters will not only influence the combustion heat release control precisely, but also lead to increased calibration effort for the combustion controller. In this research, a triple closed-loop control strategy, in conjunction with a set-point online generation method, was proposed to improve the cylinder-to-cylinder combustion homogeneity, maintain the desired engine speed, and reduce the calibration effort simultaneously. A coefficient of variation in crank angle domain was utilized to analyze the cylinder-to-cylinder combustion homogeneity. The triple closed-loop control strategy was implemented on a marine medium-speed diesel engine. The experimental results indicated that the proposed control strategy, compared with the speed & IMEP (indicated mean effective pressure) cooperative control and speed & MFB50 (crank angle when 50 % fuel is consumed) cooperative control, has a better potential to alleviate cylinder-to-cylinder pressure variations at the same crankshaft angle. The cylinder-to-cylinder variation of IMEP and MFB50 decreased by 61 % and 38 % compared to the closed-loop speed control, respectively. The cylinder-to-cylinder combustion inhomogeneity, resulting from engine long-time operation and ambient conditions change, was significantly reduced as well. Therefore, the proposed strategy provides a multi-objective precise control method that allows the extension to low-carbon and zero-carbon marine engines.

闭环燃烧控制（CLCC）是一种通过调整单个气缸的燃油喷射参数来最大限度减少气缸间燃烧变化的有效方法。它是闭环转速控制的补充，后者通过操纵全局喷油参数来精确控制发动机转速。然而，CLCC 的应用改变了传统的闭环转速控制，使其成为一种复杂的控制结构。此外，燃烧控制参数的选择不仅会影响燃烧放热的精确控制，还会导致燃烧控制器的标定工作量增加。本研究提出了一种三重闭环控制策略，并结合设定点在线生成方法，以改善缸与缸之间的燃烧均匀性，保持理想的发动机转速，并同时减少标定工作量。利用曲柄角域的变化系数分析了气缸到气缸的燃烧均匀性。在船用中速柴油机上实施了三重闭环控制策略。实验结果表明，与转速& IMEP（指示平均有效压力）协同控制和转速& MFB50（消耗 50% 燃料时的曲柄角）协同控制相比，所提出的控制策略在相同曲轴角度下具有更好的缓解气缸到气缸压力变化的潜力。与闭环转速控制相比，IMEP 和 MFB50 的气缸间变化分别减少了 61% 和 38%。发动机长时间运行和环境条件变化导致的气缸间燃烧不均匀性也显著降低。因此，所提出的策略提供了一种多目标精确控制方法，可扩展到低碳和零碳船用发动机。

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引用次数: 0

Global–local preserving method of quality-related maximization and its application for process monitoring 质量相关最大化的全局-局部保存法及其在过程监控中的应用

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-11-01 DOI: 10.1016/j.conengprac.2024.106143

Jiandong Yang, Xuefeng Yan

Common multivariate statistical quality-related process monitoring methods often separate feature extraction from quality-related process modeling, which can lead to insufficient extraction of quality-related information. In this paper, a quality-related maximization model with global and local preservation constraints is proposed. The process data are mapped to a high-dimensional feature space using kernel projection, which better linearizes the nonlinear data. Kernel sparse representation local linear embedding is applied to adaptively determine local relationships. Based on these local relationships, global-local constraints are constructed, and quality-related features are extracted according to the principle of maximizing correlation with quality indicators, resulting in a low-dimensional embedding matrix. This embedding matrix is used for process monitoring by dividing the quality-related and quality-independent subspaces and constructing a monitoring statistical strategy. The effectiveness of the proposed method is verified using the Tennessee-Eastman process, and it is further applied to a fluid catalytic cracking process.

常见的多元统计质量相关过程监控方法往往将特征提取与质量相关过程建模分开，这可能导致质量相关信息提取不足。本文提出了一种具有全局和局部保存约束的质量相关最大化模型。使用核投影将过程数据映射到高维特征空间，从而更好地线性化非线性数据。内核稀疏表示局部线性嵌入被用于自适应地确定局部关系。根据这些局部关系，构建全局-局部约束，并按照与质量指标相关性最大化的原则提取与质量相关的特征，从而得到一个低维嵌入矩阵。通过划分与质量相关的子空间和与质量无关的子空间并构建监控统计策略，该嵌入矩阵可用于过程监控。利用 Tennessee-Eastman 工艺验证了所提方法的有效性，并将其进一步应用于流体催化裂化工艺。

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引用次数: 0

Synchronous DTC for torque sub-harmonic reduction in low switching frequency induction motor drives 用于降低低开关频率感应电机驱动器转矩次谐波的同步 DTC

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-11-01 DOI: 10.1016/j.conengprac.2024.106133

A. Benevieri, M. Marchesoni, M. Passalacqua, P. Pozzobon, L. Vaccaro

A direct torque control (DTC) algorithm with synchronous modulation for high-power induction motors is presented in this paper. While maintaining the dynamic response and robustness of a PI-based DTC operating in the stationary reference frame, the proposed scheme is able to keep an integer PWM modulation ratio, adjusting the stator flux angle and the switching period at each control step so that the synchronicity condition is always satisfied. In this way, it is possible to achieve an improvement of the very low-frequency harmonic spectrum of the torque, in particular by reducing torque sub-harmonics. These represent one of the main problems associated with low-frequency modulation typical of high-power drives and their reduction allows to avoid drawbacks such as resonance and mechanical stresses. The performance of the proposed algorithm is evaluated with experimental tests on a small-scale test bench.

本文提出了一种针对大功率感应电机的同步调制直接转矩控制（DTC）算法。在保持基于 PI 的 DTC 在静态参考帧中运行的动态响应和鲁棒性的同时，所提出的方案能够保持整数 PWM 调制比，在每个控制步骤中调整定子磁通角和开关周期，从而始终满足同步性条件。通过这种方式，可以改善转矩的极低频谐波频谱，特别是通过减少转矩次谐波。次谐波是与大功率驱动器典型的低频调制相关的主要问题之一，减少次谐波可以避免共振和机械应力等缺点。通过在小型试验台上进行实验测试，对所提出算法的性能进行了评估。

引用次数: 0

Bayesian optimization with embedded stochastic functionality for enhanced robotic obstacle avoidance 具有嵌入式随机功能的贝叶斯优化技术，用于增强机器人的避障能力

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-10-30 DOI: 10.1016/j.conengprac.2024.106141

Catalin Stefan Teodorescu, Andrew West, Barry Lennox

Designing an obstacle avoidance algorithm that incorporates the stochastic nature of human–robot-environment interactions is challenging. In high risk activities, such as those found in nuclear environments, a comprehensive approach towards handling uncertainty is essential. In this article, in the context of safe teleoperation of robots, an automated iterative sampling procedure based on Bayesian optimization is proposed, where the robot is trained to predict the behaviour of a human operator. Specifically, a Gaussian process regression model is used to learn an effective representation of a safe stop manoeuvre, required for implementing an obstacle avoidance shared control algorithm. This model is then used to predict the future time duration to execute a safe stop manoeuvre, given the current real-world circumstances. The control algorithm expects this value to be reasonably high; if not, it will gradually reduce the human operator’s authority. A distinctive attribute of the proposed method is the use of statistical confidence metrics as tuning parameters, intended to provide a statistical indication of whether or not an obstacle will be avoided. The proof-of-concept experiments were carried out using three robotic platforms suited for use in nuclear robotics, an amphibious SuperDroid HD2 robot equipped with a Velodyne VLP16 (a 3D lidar), an AgileX Scout Mini R&D Pro land robot fitted with a Realsense D435 depth camera, and a Husarion ROSBot 2.0 Pro supplied with an RPLIDAR A3 (a 2D lidar). The test results show that the proposed Bayesian optimization method uses 8 times less data compared to an exhaustive grid approach, and that it provides a robot-agnostic, robust obstacle avoidance.

设计一种能将人-机器人-环境互动的随机性纳入其中的避障算法具有挑战性。在核环境等高风险活动中，必须采用综合方法来处理不确定性。本文以机器人的安全远程操作为背景，提出了一种基于贝叶斯优化的自动迭代采样程序，训练机器人预测人类操作员的行为。具体来说，使用高斯过程回归模型来学习安全停止动作的有效表示，这是实施避障共享控制算法所必需的。然后，根据当前的实际情况，利用该模型预测未来执行安全停车动作所需的时间。控制算法希望这个值是合理的高值；如果不是，它将逐渐降低人类操作员的权限。拟议方法的一个显著特点是使用统计置信度指标作为调整参数，旨在提供是否能避开障碍物的统计指示。概念验证实验使用了三个适合核机器人技术使用的机器人平台：配备 Velodyne VLP16（三维激光雷达）的 SuperDroid HD2 水陆两用机器人、配备 Realsense D435 深度相机的 AgileX Scout Mini R&D Pro 陆地机器人，以及配备 RPLIDAR A3（二维激光雷达）的 Husarion ROSBot 2.0 Pro。测试结果表明，与穷举式网格方法相比，所提出的贝叶斯优化方法所使用的数据量减少了 8 倍，而且还能提供与机器人无关的稳健避障功能。

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引用次数: 0

Aerial teleoperation for quadrotors based on gaze-guidance 基于凝视导航的四旋翼飞行器空中遥控操作

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-10-30 DOI: 10.1016/j.conengprac.2024.106138

Jiahui Hu , Yonghua Lu , Jing Li , Haibo Yang , Jingjing Liu

Gaze is a non-verbal behavior that is an important communication cue and a direct reflection of subjective intent. However, few research works have intervened gaze into the aerial teleoperation circuits of unmanned aerial vehicles (UAVs). This paper proposed an aerial teleoperation framework based on gaze-guidance, mainly built on the novel theory of non-invasive gaze tracking and gaze-drive. We demonstrate how a monocular gaze tracker can acquire human gaze signals and convert them into lupin and efficient control intentions, thus allowing humans to assign tasks to an automated quadrotor without body movements. Extensive and complex simulations and real-world experiments are conducted to verify the superior performance of the proposed method in obstacle traversal.

目光是一种非语言行为，是重要的交流线索，也是主观意图的直接反映。然而，很少有研究将目光引入无人飞行器（UAV）的空中遥控电路中。本文提出了一种基于凝视引导的空中遥控框架，主要建立在无创凝视跟踪和凝视驱动的新理论基础上。我们展示了单目注视跟踪器如何获取人类注视信号，并将其转换为鲁班和高效的控制意图，从而使人类能够在不移动身体的情况下为自动四旋翼飞行器分配任务。我们进行了大量复杂的模拟和实际实验，以验证所提方法在穿越障碍物方面的卓越性能。

引用次数: 0

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-10-29 DOI: 10.1016/j.conengprac.2024.106140

Liujiayi Zhao, Pengyu Song, Chunhui Zhao

Existing root cause diagnosis (RCD) methods infer causal relationships among abnormal variables by decomposing causal graphs into intra-group and inter-group levels, reducing redundancy according to direct causality. However, the indirect causality trigged by wide-range fault propagation may be ignored when inferring within groups, leading to the mismatch between causality distribution and grouping results. To overcome the challenge, we propose a causal similarity learning method with multi-level predictive relation aggregation, which contains a complementary similarity measurement framework covering both single-level and high-level causal relationships. First, an attention mechanism with temporal misalignment is designed, which can convert the undirected correlations of features into directed high-level causal similarity by extracting lagged predictive relations. Further, a graph-cutting penalty term is proposed to promote causality distribution to exhibit intra-group denseness and inter-group sparsity, so that single-level causal similarity can be considered during grouping. Finally, a dual RCD method is proposed to search root causes from the causal graph with intra-group and inter-group causality. In this way, numerous redundant causations caused by complex fault propagation can be succinctly described by inter-group causation, and the search for root cause variables can be limited to subgroups to improve diagnosis efficiency. The validity of the proposed method is illustrated through both the Tennessee Eastman benchmark example and a real industrial process.

现有的根源诊断（RCD）方法通过将因果图分解为组内和组间两个层次来推断异常变量之间的因果关系，从而根据直接因果关系减少冗余。然而，在组内推断时，可能会忽略大范围故障传播引发的间接因果关系，导致因果关系分布与分组结果不匹配。为了克服这一难题，我们提出了一种多层次预测关系聚合的因果相似性学习方法，该方法包含一个互补的相似性测量框架，涵盖单层次和高层次的因果关系。首先，我们设计了一种具有时间错位的关注机制，通过提取滞后的预测关系，将特征的无向相关性转化为有向的高层次因果相似性。此外，还提出了一个图切割惩罚项，以促进因果关系分布呈现出组内密集、组间稀疏的特点，从而在分组时可以考虑单层次的因果相似性。最后，提出了一种双重 RCD 方法，从具有组内和组间因果关系的因果图中搜索根本原因。这样，复杂故障传播引起的大量冗余因果关系就可以通过组间因果关系得到简洁描述，而根源变量的搜索也可以局限于子组，从而提高诊断效率。通过田纳西伊士曼基准实例和实际工业流程，说明了所提方法的有效性。

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引用次数: 0

Multiple-model iterative learning control with application to stroke rehabilitation 多模型迭代学习控制在中风康复中的应用

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-10-29 DOI: 10.1016/j.conengprac.2024.106134

Junlin Zhou , Christopher T. Freeman , William Holderbaum

Model-based iterative learning control (ILC) algorithms achieve high accuracy but often exhibit poor robustness to model uncertainty, causing divergence and long-term instability as the number of trials increases. To address this, an estimation-based multiple-model switched ILC (EMMILC) approach is developed based on novel theorem results which guarantee stability if the true plant lies within a uncertainty space defined by the designer. Using gap metric analysis, EMMILC eliminates restrictive assumptions on the uncertainty structure assumed in existing multiple-model ILC methods. Our design framework minimises computational load while maximising tracking accuracy. Applied to a common rehabilitation scenario, EMMILC outperforms the standard ILC approaches that have been previously employed in this setting. This is confirmed by experimental tests with four participants where performance increased by 28%. EMMILC is the first model-based ILC framework that can guarantee high performance while not requiring any model identification or tuning, and paves the way for effective, home-based rehabilitation systems.

基于模型的迭代学习控制（ILC）算法虽然能达到很高的精度，但对模型不确定性的鲁棒性往往很差，会随着试验次数的增加而产生分歧和长期不稳定性。为解决这一问题，我们开发了一种基于估计的多模型切换 ILC（EMMILC）方法，该方法基于新的定理结果，如果真实工厂位于设计者定义的不确定性空间内，则该方法可保证稳定性。利用间隙度量分析，EMMILC 消除了现有多模型 ILC 方法中对不确定性结构的限制性假设。我们的设计框架最大限度地降低了计算负荷，同时最大限度地提高了跟踪精度。将 EMMILC 应用于常见的康复场景时，其性能优于之前在该场景中采用的标准 ILC 方法。对四名参与者进行的实验测试证实了这一点，测试结果表明 EMMILC 的性能提高了 28%。EMMILC 是第一个基于模型的 ILC 框架，它能保证高性能，同时不需要任何模型识别或调整，为有效的家庭康复系统铺平了道路。

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引用次数: 0

Bounded control of PMLSM servo system based on fractional order barrier function adaptive super-twisting approach 基于分数阶障碍函数自适应超扭曲方法的 PMLSM 伺服系统有界控制

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2024-10-25 DOI: 10.1016/j.conengprac.2024.106131

XinYu Zhao, LiMei Wang

The performance of permanent magnet linear synchronous motor in tracking is influenced by payload uncertainty and unknown disturbances. Traditional constant-gain super-twisting control typically use a high control gain exceeding the total disturbances to maintain the stability of the system. However, these controllers may lead to control input oversaturation when disturbances decrease and the control gain is not appropriately chosen. To address this issue, this paper proposes a new Fractional Order Barrier Function Adaptive Super-Twisting (FOBFAST) control strategy. The advantages of FOBFAST include: (1) mitigation of system chattering through the design of the super-twisting algorithm and the fractional-order integral terminal sliding mode manifold; (2) achieving convergence of system error to a predetermined zero-neighborhood without requiring information about the disturbance upper bound; (3) dynamic adjustment of control gain to a smaller value as tracking error converges to the origin. Furthermore, an improved barrier function is proposed to address the issue of large control amplitudes, limiting the maximum allowable control gain and ensuring system stability. Experimental results demonstrate that the proposed control strategy not only enhances position tracking performance but also exhibits superior robustness.

永磁直线同步电机的跟踪性能受到有效载荷不确定性和未知干扰的影响。传统的恒定增益超扭控制通常使用超过总干扰的高控制增益来维持系统的稳定性。然而，当扰动减小且控制增益选择不当时，这些控制器可能会导致控制输入过饱和。为解决这一问题，本文提出了一种新的分数阶壁垒函数自适应超扭曲（FOBFAST）控制策略。FOBFAST 的优点包括(1) 通过设计超扭曲算法和分数阶积分末端滑模流形，缓解系统颤振；(2) 无需干扰上界信息，即可实现系统误差收敛至预定零邻域；(3) 当跟踪误差收敛至原点时，控制增益可动态调整至较小值。此外，还提出了一个改进的障碍函数，以解决控制幅度过大的问题，限制最大允许控制增益，确保系统稳定性。实验结果表明，所提出的控制策略不仅提高了位置跟踪性能，还表现出卓越的鲁棒性。

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引用次数: 0