共查询到18条相似文献,搜索用时 140 毫秒
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对具有未建模动态并且输入通道存在干扰的动态不确定多输入多输出(MIMO)模型参考自适应控制(MRAC)系统,应用输出反馈给出了一种变结构模型跟踪控制器设计.系统的已建模部分有大于1的任意相对阶且已建模部分阶的上界是未知的.通过引入辅助信号和带有记忆功能的正规化信号,以及适当选择控制器参数,保证了闭环系统的全局稳定性,且跟踪误差可调整到任意小. 相似文献
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针对具有时变干扰的不确定多自由度机械臂,文章设计了基于RBF神经网络的含有鲁棒因子的滑模变结构高精度跟踪控制方法.针对时变干扰,设计鲁棒因子,将其嵌入滑模变结构控制器,克服了时变干扰对系统跟踪性能的影响.将RBF神经网络控制算法结合鲁棒因子滑模变结构控制,估计多自由度机械手臂系统的不确定因素.采用Lyapunov函数方法,证明了系统的稳定性.对比分析了计算力矩法滑模变结构控制方法,仿真结果证明,基于RBF神经网络的鲁棒因子滑模控制,针对具有时变干扰的含有不确定因素的多自由度机械手臂系统,具有较为精确的跟踪性能. 相似文献
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吴忠强 《数学的实践与认识》2003,33(11):101-105
基于模糊动态模型 ,研究了 Chua混沌系统的稳定控制问题 .将非线性混沌系统模糊化为局部线性模型 .用 Lyapunov稳定性理论设计出 ,确保模糊动态模型全局渐近稳定的变结构控制器 .仿真验证了方案的有效性 .模糊控制器简单 ,规则少 . 相似文献
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针对一类坦克炮控伺服系统,充分考虑系统中的未知齿隙非线性及摩擦非线性,将这些未知非线性的影响表示成有界扰动项与未知非线性动态项之和,借助ARC(自适应鲁棒控制)的思想设计控制器,当未知非线性动态项为零时,控制器即为自适应控制器,保持系统稳定的同时实现对参考信号的精确跟踪,而当系统存在未知非线性动态项时,控制器具有很好的鲁棒性,保持系统所有信号有界的同时实现对参考信号的误差跟踪,且跟踪误差可以由设计参数的取值设定来任意调节,与现有结果相比,控制器的设计建立在充分考虑系统未知非线性的影响之上,从而避免了简单的把未知非线性影响简单的考虑成系统"总扰动"所造成的被控系统性能的损失。 相似文献
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针对变论域模糊控制,提出一种新的自组织结构的变论域模糊控制方法。自组织结构算法可以调整变论域模糊系统结构以及动态获得模糊规则,进一步减小变论域模糊控制项的稳态逼近误差。通过进一步理论分析可知,自组织结构算法仅仅保证了系统瞬时的切换是平稳的,但不能保证系统的闭环稳定性。给出了所提出控制方法的适用条件。通过与固定模糊系统结构的变论域模糊控制比较,仿真结果表明,所提出控制方法不仅使得系统的稳态跟踪误差更平稳,而且使得输入控制信号更加平滑。 相似文献
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A feedback controller for approximate tracking a prescribed trajectory of an inaccurately observed dynamical system effected by uncertain non-observable input disturbances over an infinite time interval is constructed. The controller is “resource-saving” in a sense that control resources spent for approximate tracking do not exceed (with some small gaps) those needed for exact tracking in an “ideal” situation where the current values of the input disturbance are fully observable. 相似文献
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RBF‐based discrete sliding mode control for robust tracking of uncertain time‐delay systems with input nonlinearity 下载免费PDF全文
Ming‐Chang Pai 《Complexity》2016,21(6):194-201
In this article, a control scheme combining radial basis function neural network and discrete sliding mode control method is proposed for robust tracking and model following of uncertain time‐delay systems with input nonlinearity. The proposed robust tracking controller guarantees the stability of overall closed‐loop system and achieves zero‐tracking error in the presence of input nonlinearity, time‐delays, time‐varying parameter uncertainties, and external disturbances. The salient features of the proposed controller include no requirement of a priori knowledge of the upper bound of uncertainties and the elimination of chattering phenomenon and reaching phase. Simulation results are presented to demonstrate the effectiveness of the proposed scheme. © 2015 Wiley Periodicals, Inc. Complexity 21: 194–201, 2016 相似文献
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This paper presents a robust control algorithm for plants involvingboth internal (i.e. in the state) and external (i.e. in theoutput or input) known point delays. Several stabilizing controllerstructures are given and analysed for the case of perfectlymodelled plants with known parameters. The parametrized partsof two of the controller structures involve delays, while thoseof the two remaining controllers are delay-free. However, auxiliarycompensating signals which weight the plant input and outputintegrals are incorporated in all the controller structuresfor stabilization and model matching purposes. 相似文献
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一类死区非线性输入系统的自适应模糊控制 总被引:1,自引:0,他引:1
针对一类具有死区非线性输入的非线性系统,基于滑模控制的基本原理,利用II型模糊逻辑系统对未知函数进行在线逼近,提出了一种具有监督器的自适应模糊滑模控制方法。该方法通过监督控制器保证闭环系统所有信号有界,并通过引入最优逼近误差的自适应补偿项来消除建模误差的影响。通过理论分析,证明了跟踪误差收敛到零。 相似文献
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Robust tracking and model following for uncertain time‐delay systems with input nonlinearity 下载免费PDF全文
Ming‐Chang Pai 《Complexity》2015,21(2):66-73
This article proposes a novel adaptive sliding mode control (SMC) scheme to realize the problem of robust tracking and model following for a class of uncertain time‐delay systems with input nonlinearity. It is shown that the proposed robust tracking controller guarantees the stability of overall closed‐loop system and achieves zero‐tracking error in the presence of input nonlinearity, time‐delays, time‐varying parameter uncertainties and external disturbances. The selection of sliding surface and the existence of sliding mode are two important issues, which have been addressed. This scheme assures robustness against input nonlinearity, time‐delays, parameter uncertainties, and external disturbances. Moreover, the knowledge of the upper bound of uncertainties is not required and chattering phenomenon is eliminated. Both theoretical analysis and illustrative examples demonstrate the validity of the proposed scheme. © 2014 Wiley Periodicals, Inc. Complexity 21: 66–73, 2015 相似文献
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An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme. 相似文献
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Adaptive Constrained Control of Unknown Strict Feedback Nonlinear Systems With Dead Zone Input北大核心CSCD 下载免费PDF全文
研究了具有死区输入的预设约束未知高阶严格反馈非线性系统的控制问题,提出了一种基于免疫函数的自抗扰预设漏斗约束自适应控制策略。首先,针对系统内部的未知问题,采用免疫函数与扩张状态观测器结合对系统内部未知项进行观测;其次,通过Lyapunov方法与漏斗控制相结合设计控制器,使得跟踪误差能够维持在预先设定的漏斗约束范围内;同时,利用双曲正切函数速率变化快这一特性设计自适应控制律,引入指令滤波器避免反步法中重复求导问题,分析证明了闭环系统所有信号的有界性。仿真实例表明了控制方法的有效性。 相似文献
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在自动化高速公路环境下,提出一种改进的宏观离散交通流模型密度控制方法.利用反馈线性化方法,将宏观离散交通流模型转换为一般容易处理的线性系统模型,简化了密度控制器的设计.利用线性系统中具有输入变换的跟踪反馈控制方法,对线性化后的系统模型设计控制律.通过控制该线性系统的状态变量,间接稳定离散交通流模型中的交通流密度,达到对道路交通流拥堵的控制.同时给出设计方法和步骤,仿真实例说明了方法的实用性. 相似文献