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基于模糊模型的时滞不确定系统的模糊H∞鲁棒反馈控制 总被引:4,自引:0,他引:4
讨论了一类具有状态和控制时滞的不确定非线性系统的模糊H∞ 状态反馈控制问题. 采用具有时滞的不确定Takagi-Sugeno(T-S)模糊模型对非线性系统进行建模, 提出了一套基于LMI的模糊鲁棒控制器的系统设计方法, 给出了模糊H∞状态反馈控制器存在的充分条件, 以保证闭环模糊系统渐近稳定并满足从干扰输入到控制输出的H∞范数界约束. 示例仿真表明了该方法的有效性. 相似文献
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Robust Optimal Control of Nonlinear Systems With System Disturbance During Feedback Disruption 下载免费PDF全文
In this paper, a robust optimal control problem of nonlinear systems with system disturbance during feedback disruption is considered. This is an extended work of previous time‐delay optimal control results, by adding external disturbance in the considered system. It is shown that there exists an optimal input signal which keeps the performance error within the specified bound for the longest time. Then, it is shown that such an optimal input signal can be approximated by an implementable bang‐bang input signal in terms of control performance. Two examples are given for illustration. 相似文献
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一类具有非线性扰动的多重时滞不确定系统鲁棒预测控制 总被引:1,自引:0,他引:1
针对一类具有非线性扰动且同时存在多重状态和输入时滞的不确定系统, 提出 一种鲁棒预测控制器设计方法. 基于预测控制滚动优化原理, 运用Lyapunov稳定性 理论和线性矩阵不等式 (Linear matrix inequalities, LMIs)方法, 首先近似求解无限时域二次性能指标优化问题, 然后优化非 线性扰动项所应满足的最大上界, 定量地研究鲁棒预测控制在范数有界意义下的扰动抑制 问题, 并给出了鲁棒预测控制器存在的充分条件. 最后通过仿真验证了所提方法的有效性. 相似文献
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In this paper, a scheme for decentralized robust control for control affine nonlinear interconnected systems using linear matrix inequalities (LMIs) is presented. Based on the Lyapunov theory, sufficient conditions for closed-loop stability of a nonlinear system, reference input tracking, and disturbance attenuation over its operating-range are obtained. Then, achieving these sufficient conditions are formulated as local LMI optimization problems. By solving the appropriately defined local problems, provided the obtained sufficient conditions are satisfied, the closed-loop stability, input tracking, and disturbance attenuation over the operating-range of the system are guaranteed. The designed controller is linear whose implementation is straightforward. An example is given to illustrate the proposed methodology. 相似文献
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A new method for the reconfigurable control of stable Hammerstein systems with sector-bounded static nonlinear input characteristics subject to actuator failures is described. It aims at the recovery of the nominal stability, setpoint tracking, disturbance rejection and performance properties by the reconfigured closed-loop system. This article extends the virtual actuator from linear systems to Hammerstein systems and provides sufficient linear matrix inequality conditions for closed-loop stability, and a corresponding synthesis algorithm. It is shown that the approach is robust against uncertainties of the static input nonlinearity in a small-gain sense, and universal in a certain sense. Feasible setpoints for the reconfigured closed-loop system are characterised, and infeasible setpoints are projected to feasible ones. An extension guarantees minimum performance loss. The method is successfully experimentally evaluated using a system of interconnected tanks. 相似文献
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In this paper, we consider the robust adaptive tracking control of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance. The nonlinear disturbance observer (NDO) is employed to tackle the system uncertainty as well as the external disturbance. To handle the input saturation, an auxiliary system is constructed as a saturation compensator. By using the backstepping technique and the dynamic surface method, a robust adaptive tracking control scheme is developed. The closed-loop system is proved to be uniformly ultimately bounded thorough Lyapunov stability analysis. Simulation results with application to an unmanned aerial vehicle (UAV) demonstrate the effectiveness of the proposed robust control scheme. 相似文献
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In this article, a novel robust finite-time tracking control scheme is proposed for a class of uncertain nonlinear systems subject to the model uncertainty, external disturbance, and input saturation. A barrier function based disturbance observer (BFDO) with finite-time convergence performance is developed to estimate the non-smooth nonlinear compound disturbance, which includes the uncertainty, disturbance of system and input saturation. In addition, an adaptive continuous nonsingular terminal sliding mode controller, based on the barrier function and the estimate of the BFDO is developed. The Lyapunov stability and finite-time convergence of the proposed control scheme are proved. The effectiveness and performance advantage of the proposed control scheme is demonstrated by numerical simulations and comparison with existing works. 相似文献
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Robust neural network tracking controller using simultaneous perturbation stochastic approximation 总被引:1,自引:0,他引:1
Qing Song James C Spall Yeng Chai Soh Jie Ni 《Neural Networks, IEEE Transactions on》2008,19(5):817-835
This paper considers the design of robust neural network tracking controllers for nonlinear systems. The neural network is used in the closed-loop system to estimate the nonlinear system function. We introduce the conic sector theory to establish a robust neural control system, with guaranteed boundedness for both the input/output (I/O) signals and the weights of the neural network. The neural network is trained by the simultaneous perturbation stochastic approximation (SPSA) method instead of the standard backpropagation (BP) algorithm. The proposed neural control system guarantees closed-loop stability of the estimation system, and a good tracking performance. The performance improvement of the proposed system over existing systems can be quantified in terms of preventing weight shifts, fast convergence, and robustness against system disturbance. 相似文献
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Shun-Hung Tsai 《Expert systems with applications》2011,38(5):4935-4944
This paper proposes a fuzzy bilinear scheme including a fuzzy modeling method and a fuzzy controller for a class of uncertain nonlinear systems with an additive disturbance input. Firstly, this procedure of modeling describes how to transform a nonlinear system into a fuzzy bilinear system (FBS). For controller design problem, the parallel distributed compensation (PDC) method is adopted to design a fuzzy controller which ensures the robust asymptotic stability of the uncertain T–S FBS with an additive disturbance input and guarantees an H∞ norm bound constraint on disturbance attenuation. Besides, some sufficient conditions are derived to guarantee the robust stabilization of the overall fuzzy control system via linear matrix inequalities (LMIs). Finally, the Van de Vusse reactor (Chen, Lin, Lin, & Tong, 2008; Chong & Zak, 1996; Kashiwagi & Rong, 2002; Li, Tsai, Lee, Hsiao, & Chao, 2008; Perez, Ogunnaike, & Devasia, 2000) with additive disturbance input is utilized to demonstrate the validity and feasibility of the proposed control scheme. 相似文献
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This study introduces a fuzzy linear control design method for nonlinear systems with optimal H∞ robustness performance. First, the Takagi and Sugeno fuzzy linear model (1985) is employed to approximate a nonlinear system. Next, based on the fuzzy linear model, a fuzzy controller is developed to stabilize the nonlinear system, and at the same time the effect of external disturbance on control performance is attenuated to a minimum level. Thus based on the fuzzy linear model, H∞ performance design can be achieved in nonlinear control systems. In the proposed fuzzy linear control method, the fuzzy linear model provides rough control to approximate the nonlinear control system, while the H∞ scheme provides precise control to achieve the optimal robustness performance. Linear matrix inequality (LMI) techniques are employed to solve this robust fuzzy control problem. In the case that state variables are unavailable, a fuzzy observer-based H∞ control is also proposed to achieve a robust optimization design for nonlinear systems. A simulation example is given to illustrate the performance of the proposed design method 相似文献
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This paper addresses a robust control approach for a class of input–output linearizable nonlinear systems with uncertainties and modeling errors considered as unknown inputs. As known, the exact feedback linearization method can be applied to control input–output linearizable nonlinear systems, if all the states are available and modeling errors are negligible. The mentioned two prerequisites denote important problems in the field of classical nonlinear control. The solution approach developed in this contribution is using disturbance rejection by applying feedback of the uncertainties and modeling errors estimated by a specific high‐gain disturbance observer as unknown inputs. At the same time, the nonmeasured states can be calculated from the estimation of the transformed system states. The feasibility and conditions for the application of the approach on mechanical systems are discussed. A nonlinear multi‐input multi‐output mechanical system is taken as a simulation example to illustrate the application. The results show the robustness of the control design and plausible estimations of full‐rank disturbances.Copyright © 2012 John Wiley & Sons, Ltd. 相似文献