类反斜线回滞系统的模型参考滑模控制

回滞现象广泛地存在于许多控制研究领域,可能引起系统的振荡,甚至造成系统的不稳定,因此有必要对回滞系统的有效控制进行研究.针对一类重要的类反斜线回滞系统,通过对类反斜线回滞特性的分析,将其分解为线性部分和已知上限的非线性不确定部分,给定期望的不存在回滞特性的光滑轨线,得到了模型参考滑模控制律,通过跟踪给定期望的不存在回滞特性的光滑轨线,削弱甚至消除回滞特性.仿真结果表明此控制律是有效的.     

基于Prandtl-Ishlinskii模型的一类回滞非线性系统自适应控制

对带回滞驱动的一类单输入单输出的非线性不确定系统,本文采用Prandtl-Ishlinskii模型描述回滞特性,采用反步递推设计方法,实现自适应控制器的设计.仿真结果说明控制方法的有效性.     

基于NBPID的回滞系统控制

回滞现象广泛存在于许多领域，其不可积的非线性特性给控制设计带来了困难。提出的NBPID控制器是基于神经网络逆模型前馈控制(N)，加上改进的Bang—Bang控制(B)的PID控制器。首先通过神经网络逆模型的前馈控制来削弱回滞带来的影响，然后在PID控制器的基础上，为了进一步控制误差，加上改进的Bang—Bang控制。通过设计出的NBPID对回滞系统进行控制，仿真结果表明控制方法是有效的。     

基于形状记忆合金驱动器的微纳定位系统鲁棒自适应控制

针对基于智能材料驱动器串联驱动的微纳定位系统,本文主要探讨了此类高精定位系统的控制设计策略.其控制设计的主要任务是消除驱动器中未知回滞特性对系统性能所造成的负面影响.本文重点以形状记忆合金驱动器为例,采用基于广义play算子的广义Prandtl-Ishlinskii回滞模型来表征形状记忆合金驱动器中的未知饱和回滞非线性,并在此基础上提出了一种鲁棒自适应控制设计方法来消除前置回滞存在的影响.设计的控制器在保证全局稳定性的基础上能实现理想的跟踪精度,仿真结果验证了控制策略的有效性和正确性.     

非线性系统基于HM模型的自适应鲁棒跟踪控制

研究了非线性系统的跟踪控制问题，基于HM模型对非线性系统进行描述，并将全局模糊模型表示成不确定系统形式。在满足匹配条件下，针对未知不确定界，采用自适应鲁棒控制器，利用自适应变量信息来补偿系统的不确定性信息，实现了非线性系统的渐近跟踪控制。一级倒立摆仿真实验，验证了方案的有效性。控制器结构简单，规则少，具有应用价值。     

基于STP的非线性时滞系统的控制策略

针对一类具有输入时滞的非线性系统提出了一种新的控制策略一时滞一般模型控制方法(TDGMC)。介绍了强跟踪预测器(SIP)，它能够准确而有效地预测非线性时滞系统未来的状态值。直接利用SIP的预测值作为反馈引入控制器，消除时滞因子对闭环系统的影响，从而把传统的一般模型控制(GMC)方法推广到了一类非线性时滞系统，由此得到了一种时滞一般模型控制的新方法。仿真实验验证了该方法的有效性。     

基于扩张观测器的非线性不确定系统输出跟踪

针对一类非线性不确定系统，设计出一种高增益扩张观测器，该观测器具有抗干扰性，可用于观测信号的n阶导数．在此基础上设计了一种控制器，使得跟踪误差及其各阶导数在不确定及扰动存在的情况下仍能迅速收敛．仿真结果表明，这种控制方法对于非线性不确定系统具有良好的控制效果．     

典型非线性系统的自适应BP神经网络跟踪控制器设计

基于BP神经网络针对一类典型的非线性系统，设计成自适应跟踪控制方案。利用神经网络在线辨识，并将辨识结果加入到控制器的设计中，不但增强了控制器对于不确定非线性系统的鲁棒性，而且使跟踪误差渐进收敛于零。仿真结果证明了这种方法的可行性。     

基于未知Prandtl-Ishlinskii回滞的一类不确定非线性系统自适应逆控制

针对带有回滞驱动的一类不确定非线性系统,通过把Prandtl-Ishhnskii模型分解为一个离散的Prandtl-Ishlinskii算子和一个小的有界误差项,采用反步递推的设计方法,实现自适应逆控制器的设计.所设计的自适应逆控制器能保证闭环系统全局稳定.仿真结果进一步证明该控制方法的有效性.     

一类约束条件下的跟踪保性能控制

本文研究了一类时变非线性系统在输入有位置约束条件下的跟踪保性能控制问题.首先对非线性对象选择合适的特征运行状况,采用瞬时线性化技术得到多个线性化控制模型,将之看作是一个线性不确定系统,提出应用基于线性矩阵不等式的跟踪保性能控制设计控制器,然后经过推导得到了满足控制约束的充分条件,以定理的形式给出了约束条件下跟踪保性能控制器存在的充分条件.最后给出了仿真算例,仿真结果表明了所提方法的有效性和可行性.     

Operator-based robust control for nonlinear uncertain systems with unknown backlash-like hysteresis

In this paper, operator based robust control for nonlinear uncertain system with unknown backlash-like hysteresis is considered. In detail, a continuous backlash-like hysteresis operator is proved to be corresponding to a one-to-one operator, that is, it is suitable to be used in operator theoretic based control theory. Moreover, an internal model control (IMC) structure with one parallel compensating operator is proposed for nonlinear uncertain system with unknown backlash-like hysteresis. Based on the proposed control scheme, the designed system is robustly stable and the desired output tracking performance can be realized simultaneously. Finally, a simulation example about nonlinear plant preceded by backlash is given to show the design procedure of the proposed method.     

Stable adaptive fuzzy control of nonlinear systems preceded by unknown backlash-like hysteresis

This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is described by a dynamic equation. By utilizing this dynamic model and by combining a fuzzy universal function approximator with adaptive control techniques, a stable adaptive fuzzy control algorithm is developed without constructing a hysteresis inverse. The stability of the closed-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations.     

Zero-error tracking control of uncertain nonlinear systems in the presence of actuator hysteresis

In this paper, the problem of adaptive tracking control is addressed for a class of nonlinear systems with unknown constant parameters and unknown actuator nonlinearity. The actuator nonlinearity is modelled as the backlash-like hysteresis, which is described by a differential model. The prior knowledge on the control gain sign is not required, and only the assumption on the reference signal is made. By combining the adaptive backstepping technique with the Nussbaum gain approach, an adaptive compensation controller design approach is developed. It is proved that the proposed control approach can guarantee that all the signals in the closed-loop system are bounded, and the tracking error can converge to zero asymptotically despite the presence of the actuator hysteresis. Two simulation examples are included to illustrate the effectiveness of the proposed approach.     

具有磁滞输入非线性系统的鲁棒自适应控制

就一类具有磁滞输入的严反馈非线性系统, 提出了一种鲁棒自适应动态面控制方案. 该方案可克服传统反推控制带来的“微分爆炸”问题, 保证闭环系统的半全局稳定性, 且跟踪误差可收敛到任意小的残集内. 特别地, 通过引入动态面修正及初始化技巧, 可保证系统跟踪误差的L∞ 性能指标. 数值仿真验证了本文所提方法案的有效性.     

Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlash-like hysteresis

In this note, we consider the same class of systems as in a previous paper, i.e., a class of uncertain dynamic nonlinear systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation, in the presence of bounded external disturbances. By using backstepping technique, robust adaptive backstepping control algorithms are developed. Unlike some existing control schemes for systems with hysteresis, the developed backstepping controllers do not require the uncertain parameters within known intervals. Also, no knowledge is assumed on the bound of the "disturbance-like" term, a combination of the external disturbances and a term separated from the hysteresis model. It is shown that the proposed controllers not only can guarantee global stability, but also transient performance.     

Adaptive neural network tracking control for a class of switched stochastic pure-feedback nonlinear systems with backlash-like hysteresis

In this paper, an adaptive neural network tracking control approach is proposed for a class of switched stochastic pure-feedback nonlinear systems with backlash-like hysteresis. In the design procedure, an affine variable is constructed, which avoids the use of the mean value theorem, and the additional first-order low-pass filter is employed to deal with the problem of explosion of complexity. Then, a common Lyapunov function and a state feedback controller are explicitly obtained for all subsystems. It is proved that the proposed controller that guarantees all signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error remains an adjustable neighbourhood of the origin. Finally, simulation results show the effectiveness of the presented control design approach.     

Robust adaptive control of a class of nonlinear systems including actuator hysteresis with Prandtl-Ishlinskii presentations

This paper deals with robust adaptive control of a class of nonlinear systems preceded by unknown hysteresis nonlinearities. By using a Prandtl-Ishlinskii model with play and stop operators, we attempt to fuse the model of hysteresis with the available control techniques without necessarily constructing a hysteresis inverse. A robust adaptive control scheme is therefore proposed. The global stability of the adaptive system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained for a nonlinear system are presented to illustrate and further validate the effectiveness of the proposed approach.     

Adaptive variable structure control of a class of nonlinear systems with unknown Prandtl-Ishlinskii hysteresis

Control of nonlinear systems preceded by unknown hysteresis nonlinearities is a challenging task and has received increasing attention in recent years due to growing industrial demands involving varied applications. In the literature, many mathematical models have been proposed to describe the hysteresis nonlinearities. The challenge addressed here is how to fuse those hysteresis models with available robust control techniques to have the basic requirement of stability of the system. The purpose of the note is to show such a possibility by using the Prandtl-Ishlinskii (PI) hysteresis model. An adaptive variable structure control approach, serving as an illustration, is fused with the PI model without necessarily constructing a hysteresis inverse. The global stability of the system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained for a nonlinear system are presented to illustrate and further validate the effectiveness of the proposed approach.     

Robust Output Feedback Consensus of High-order Multi-agent Systems with Nonlinear Uncertainties

In this paper, the output feedback consensus problem of high-order multi-agent systems with nonlinear uncertainties is researched by the robust control method. By the dimensional extension of the observation matrix, the consensus control problem is transformed into a stability problem. Then the robust controller is designed by combining the nominal controller and the robust compensator. The nominal controller can obtain desired nominal performance based on the output informations. The robust compensator, which relys on robust signal compensation technology, is order to suppress the nonlinear uncertainties. According to the proposed method, output consensus error can be guaranteed as small as desired. Finally, simulation results are given to illustrate the effectiveness of this control method.