Research On Robust Stabilization And Control For Uncertain Time-delay Sampled Data Systems

With the development of computer technology,the digital control system has become the mainstream control mode.Digital control is commonly used in force sensing devices in the force sensing system.The force sensing system uses the interface device to realize the interaction between the input signal of the operator and the force feedback information of the virtual environment.The operator can feel the attributes and constraints of the virtual environment through the feedback force.In this paper,a single degree of freedom force sensing system is as the research object.Based on the robust control technique,the stability of the sampling system with uncertain and time delay factors is studied.The design method of the feedback controller is given,and the observer under the state estimate is realized.The research content of this paper has great significance in reference for the stability analysis of sampling system,and it can be used as reference for the design of force sensing devices.From the components of the single degree of freedom force sensing system,we select the research scheme of the passive stability.The mathematical model of this system is given on the basis of the function of the system,and the stability of the system is analyzed.After discrete processing,we carry out the study of sampling system with time delay and uncertain factors.Based on the time delay characteristics,the stability analysis and controller design of uncertain sampled data systems are studied.The sampling system has good tracking property.With the help of foresight means,by constructing a new Lyapunov function,the sampling criteria for the robust stability of the system is gained.Under the impact of input disturbance,robust control can be in the inhibition level of the.In order to meet the needs of time delay and improve the environmental adaptability of the sampling system,the stability analysis and controller design for uncertain time-varying delay sampled systems are studied.The analysis of the stability of the system with time-varying delay needs to consider the upper bound and lower bound of the delay,the interval length of the delay and so on.By constructing a new Lyapunov function,a sufficient condition for the robust stability of sampled data systems is presented by introducing the free weighting matrix.Considering the observability of some state variables,the observer design method for sampled data systems is studied.According to the model of the sampling system,a full order state observer is constructed,and the time delay decomposition method is used to obtain the augmented system with estimation error.By constructing a new Lyapunov-Krasovskii function,the robust stability of the augmented system is analyzed,and a new criterion of stability is obtained.Above all,the single degree of freedom force sensing system is as a starting point,we study the robust stability of the sampling system with time delay and uncertain factors,feedback controller and observer design problem,and use the example analysis and simulation verification.