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基于自适应Backstepping设计的TCSC非线性鲁棒控制器 总被引:2,自引:2,他引:0
电力系统是强非线性的动态大系统,在运行中总要受到外部干扰和内部干扰的影响,从而对其稳定运行造成严重威胁.本文针对带有TCSC单机无穷大母线系统的三阶鲁棒模型,在考虑阻尼系数未知及系统受外部扰动的情况下,将自适应backstepping方法与非线性L2增益干扰抑制理论融合,构造出系统的存贮函数,并获得非线性自适应鲁棒控制器及参数替换律.所得控制器不仅能够保证系统状态有界,而且能够有效抑制干扰对系统输出的影响.通过对单机系统的仿真结果表明采用该方法的控制器优于传统的控制器. 相似文献
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针对一类具有未知输入齿隙、参数不确定以及未建模动态和干扰的非线性系统,设计了自适应鲁棒控制器.将齿隙非线性模型等价表示为具有有界建模误差的全局线性化模型,在此基础上设计了包含自适应模型补偿、反馈稳定和鲁棒反馈3部分的自适应鲁棒控制器,并给出了系统动态跟踪误差和稳态误差指标.理论分析证明,闭环控制系统信号有界且跟踪误差在任意期望的精度范围内,仿真研究验证了所提出方法的有效性. 相似文献
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本文提出了一种多变量鲁棒自适应前馈控制器。该控制器采用低阶模型来控制参数未知的高阶多变量系统时,在可测干扰和有界不可测干扰作用下能保证自适应系统稳定运行。当可测干扰与系统输出之间存在未建模动态时,它可以对可测干扰实行有效的动静态补偿。当只有有界干扰作用时,它能使有界干扰对系统产生的影响最小。本文还给出了采用所提出的控制器控制某钢厂间歇式余热锅炉的仿真结果。 相似文献
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针对一类带时滞状态扰动的系统,讨论了系统的鲁棒自适应镇定问题.当扰动有界且界未知时,运用自适应控制方法,设计出一类自适应控制器.采用Lyapunov_Karasovskii函数方法,证明了文中所提出的控制器可鲁棒镇定该系统. 相似文献
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针对不确定奇异时滞系统,研究了鲁棒非脆弱控制问题。假定不确定性范数有界,设计了基于观测器的控制器,使得闭环系统在不确定性影响下保持鲁棒稳定。仅通过求解相应线性矩阵不等式就可得到鲁棒状态反馈控制器,该控制器不仅对所有容许的系统不确定性使相应的闭环系统渐近稳定,而且满足控制器本身是非脆弱的,达到抑制干扰的效果。 相似文献
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Ming-Chang Pai 《International Journal of Control, Automation and Systems》2013,11(2):225-232
This paper presents a methodological approach to design an observer-based adaptive sliding mode control to realize the problem of robust tracking and modeling following for a class of uncertain linear systems. Only partial information of the system states is known. Based on Lyapunov stability theorem, it will be shown that the proposed scheme guarantees the stability of closed-loop system and achieves zero-tracking error in the presence of parameter uncertainties and external disturbances. The proposed observer-based adaptive sliding mode control scheme can be implemented without requiring a priori knowledge of upper bounds on the norm of the uncertainties and external disturbances. This scheme assures robustness against system uncertainties and disturbances. Both the theoretical analysis and illustrative example demonstrate the validity of the proposed scheme. 相似文献
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This paper presents two new decentralized strategies for motion control of uncertain electrically-driven manipulators. The first controller is an adaptive position regulation scheme which ensures semiglobal asymptotic convergence of the position error if no external disturbances are present and semiglobal convergence of the error to an arbitrarily small neighborhood of zero in the presence of bounded disturbances. It is shown that the regulation scheme can be modified to provide accurate trajectory tracking control through the introduction of adaptive feedforward elements in the control law; this second control strategy retains the simple decentralized structure of the first controller and ensures arbitrarily accurate tracking in the presence of bounded disturbances. Each of the adaptive schemes is very efficient computationally and requires virtually no information concerning either the manipulator or actuator models. The results of computer simulations and laboratory experiments with both terrestrial and space manipulators demonstrate that accurate and robust motion control can be achieved by using the proposed approach. 相似文献
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《Journal of Process Control》2014,24(10):1516-1526
A new optimal disturbance rejection control method is proposed for the system with disturbances via a compound neural network prediction approach in this paper. The disturbances caused by external disturbances and model mismatches can be estimated by a disturbance observer, and the estimation of disturbances is introduced into the neural network predictive model to make the predictive output more accurate. Then based on the new compound neural network predictive model, a controller, which ensures both optimal performance by the receding horizon optimization and strong disturbance rejection ability, is obtained. The proposed scheme is applied to control the temperature of a simplified jacketed stirred tank heater (JSTH). Simulation results demonstrate the effectiveness of the proposed control method. 相似文献
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Yasmine Koubaa Mohamed Boukattaya Tarak Damak 《Applied Artificial Intelligence》2013,27(9-10):924-938
ABSTRACTThis article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynamic controller incorporates an estimator term to compensate for the external disturbances and dynamic uncertainties and a feedback term to improve the closed-loop stability and account for the estimation error of external disturbances. The system stability is analyzed using Lyapunov theory. Computer simulations affirm the robustness of the designed control scheme. 相似文献
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A New Robust Adaptive Neural Network Backstepping Control for Single Machine Infinite Power System With TCSC 下载免费PDF全文
Yanhong Luo Shengnan Zhao Dongsheng Yang Huaguang Zhang 《IEEE/CAA Journal of Automatica Sinica》2020,7(1):48-56
For a single machine infinite power system with thyristor controlled series compensation (TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we present a robust adaptive backstepping control scheme based on the radial basis function neural network (RBFNN). The RBFNN is introduced to approximate the complex nonlinear function involving uncertainties and external unknown disturbances, and meanwhile a new robust term is constructed to further estimate the system residual error, which removes the requirement of knowing the upper bound of the disturbances and uncertainty terms. The stability analysis of the power system is presented based on the Lyapunov function, which can guarantee the uniform ultimate boundedness (UUB) of all parameters and states of the whole closed-loop system. A comparison is made between the RBFNN-based robust adaptive control and the general backstepping control in the simulation part to verify the effectiveness of the proposed control scheme. 相似文献
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研究了基于分布式通信网络的多无人机时变编队控制问题,考虑到外界扰动对多无人机协同编队系统的影响,提出一种新的连续非线性鲁棒编队控制方法.首先基于一致性方法构造了分布式无人机编队误差系统,降低了编队控制器对全局编队信息的要求;然后采用一种基于误差符号函数积分的鲁棒控制算法补偿未知外界扰动的影响,提高了无人机编队系统的鲁棒性,并基于Lyapunov分析的方法,证明了多无人机编队误差的半全局渐进收敛性;最后在四旋翼无人机编队实验平台上进行了多无人机时变编队的实时实验验证,实验结果表明,所提出的分布式编队控制算法可以实现多无人机时变编队控制,且具有较好的协同性能和抗干扰能力. 相似文献
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一类受扰非线性系统存在执行器及元件故障时的容错控制 总被引:1,自引:1,他引:0
本文研究了一类受扰非线性系统存在执行器及元件故障时的镇定控制问题。新的容错控制算法不需要对执行器故障范围界值进行分析估算,因此与现存的方法相比,设计的控制策略结构更加简单,也不需要大量的在线计算。结果表明,应用所设计的控制方法,不仅保证执行器及元件故障下系统的稳定性,也能够有效抑制那些与状态相关不断增长的干扰对系统的影响。通过Lyapunov稳定性理论分析和仿真,均证明了所设计控制算法的有效性,能保证系统同时存在外界干扰、参数不确定性以及执行器/元件故障时的稳定性. 相似文献
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Ming‐Chang Pai 《Asian journal of control》2012,14(3):736-743
This paper investigates the synchronization problem for a class of uncertain chaotic systems. Only partial information of the system states is known. An adaptive sliding mode observer‐based slave system is designed to synchronize a given chaotic master system with unknown parameters and external disturbances. Based on the Lyapunov stability theorem, the global synchronization between the master and slave systems is ensured. Furthermore, the structure of the slave system is simple and the proposed adaptive sliding mode observer‐based synchronization scheme can be implemented without requiring a priori knowledge of upper bounds on the norm of the uncertainties and external disturbances. Simulation results demonstrate the effectiveness and robustness of the proposed scheme. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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考虑输入受限的航天器安全接近姿轨耦合控制 总被引:1,自引:0,他引:1
针对存在外部扰动和输入受限的航天器安全接近的问题,当扰动上界未知时,基于积分滑模控制理论设计了抗饱和的有限时间自适应姿轨耦合控制器.控制器的设计过程中采用了新型的避碰函数限制追踪航天器运动区域进而保证接近过程中航天器的安全性,同时通过辅助系统和自适应算法分别处理了输入受限和扰动上界未知.借助李雅普诺夫理论证明了在控制器的作用下系统状态在有限时间内收敛,且能够保证追踪航天器在实现航天器接近的过程中不与目标航天器发生碰撞.最后通过数字仿真进一步验证了所设计控制器的有效性. 相似文献
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This article presents two new adaptive strategies for motion control of uncertain rigid-link, electrically driven manipulators. The first controller is a position regulation scheme that ensures (semiglobal) asymptotic convergence of the position error if no external disturbances are present, and convergence to an arbitrarily small neighborhood of zero in the presence of bounded disturbances. It is shown that the regulation scheme can be modified to provide accurate trajectory tracking control through the introduction of adaptive feedforward elements in the control law; this second control strategy retains the simple structure of the first controller and ensures arbitrarily accurate tracking in the presence of bounded disturbances. Each of the adaptive schemes is computationally efficient and requires virtually no information concerning either the manipulator or actuator models. Computer simulation results are given for a PUMA 560 manipulator and demonstrate that accurate and robust motion control can be achieved by using the proposed controllers. Experimental results are presented for an IMI Zebra Zero manipulator and confirm that the proposed approach provides a simple and effective means of obtaining high performance motion control. © 1996 John Wiley & Sons, Inc. 相似文献