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不确定性系统的自适应鲁棒跟踪控制 总被引:4,自引:0,他引:4
针对存在未知干扰和未建模动态等不确定性的系统的自适应鲁棒跟踪控制问题进行了
探讨.首选将l1优化控制器的有限拍设计方法结合给出了最优鲁棒稳态跟踪控制器的设计方法.
然后利用集员辨识的思想,将名义模型的参数和未建模动态及干扰的大小作为未知参数,提出了
一种递推参数估计方法.最后将上述研究结果结合起来提出了一种自适应鲁棒跟踪控制策略,证
明了自适应算法的全局收敛性并给出了鲁棒跟踪性能指标的一下较紧的上界.与现有的结果相
比,本文提出的自适应控制具有非保守的鲁棒稳定性,具有渐近最优的鲁棒跟踪性能. 相似文献
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间隙度量与跟踪系统中的鲁棒控制器设计 总被引:2,自引:0,他引:2
为定量研究鲁棒控制器允许对象有尽可能大的不确定性.在引入间隙度量的基础上,定义了跟踪系统鲁棒控制器的鲁棒边界,并对某跟踪系统设计了基于间隙度量的鲁棒控制器.该控制器能兼顾对象的不确定性与控制器的不确定性.由仿真结果可以看出,与普通的PID控制器相比,具有较大鲁棒边界的鲁棒控制器不仅具有较强的干扰抑制能力.而且能够在模型加性不确定性存在的情况下具有很好的跟踪性能. 相似文献
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传统的H∞鲁棒控制器通常都是基于线性矩阵不等式求解的,因此阶次较高,不利于实现,而基于 Nevanlinna-Pick插值的H∞鲁棒控制器设计方法能够有效的解决这一问题。本文提出一种改进的同伦算法用于求解控制器设计过程中出现的非线性方程,避免了经典同伦法中逆矩阵的求解。针对某一跟踪系统设计基于 Nevanlinna-Pick插值的H∞鲁棒控制器,通过阶跃响应和正弦信号的跟踪响应可以看出,与高阶超前滞后校正环节相比,前者构成闭环系统的跟踪精度要比后者的控制精度高,且具有较强的鲁棒稳定性。 相似文献
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论文将讨论具有控制输入幅值限制的机器人轨迹跟踪控制问题。将利用基于信号补偿的鲁棒控制方法设计机器人的子关节系统控制器。该控制器由标称控制器和鲁棒补偿器组成。标称控制器对于一标称受控对象实现所希望的轨迹跟踪特性,鲁棒补偿器则用于减小实际受控对象和标称受控对象之间的差异对跟踪特性的影响。当输入存在饱和约束的情况下,对鲁棒补偿器进行了修改,并且基于演化寻优的方法求取鲁棒补偿器参数。 相似文献
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针对具有互质因子摄动和未知干扰的离散时间系统研究了一种自适应鲁棒控制策略. 本文的主要工作包括三个方面. 首先建立了互质因子摄动系统最优е1鲁棒控制设计的连续性. 然后,提出了一种带变死区的参数鲁棒估计投影算法. 最后, 结合所提出的参数估计算法和最优е1鲁棒控制,利用确定性等价原理提出了互质因子摄动系统的一种新的自适应鲁棒控制方法. 基于本文建立的е1优化设计的连续性, 证明了自适应鲁棒控制的全局稳定性,给出了自适应控制系统稳定性的后验可计算条件. 相似文献
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针对具有互质因子摄动和未知干扰的离散时间系统研究了一种自适应鲁棒控制策略.
本文的主要工作包括三个方面.首先建立了互质因子摄动系统最优l1鲁棒控制设计的连续性.
然后,提出了一种带变死区的参数鲁棒估计投影算法.最后,结合所提出的参数估计算法和最优
l1鲁棒控制,利用确定性等价原理提出了互质因子摄动系统的一种新的自适应鲁棒控制方法.基
于本文建立的l1优化设计的连续性,证明了自适应鲁棒控制的全局稳定性,给出了自适应控制系
统稳定性的后验可计算条件. 相似文献
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In this paper, we consider the global robust output regulation problem for a class of uncertain nonlinear systems with nonlinear
exosystems. By employing the internal model approach, we show that this problem boils down to a global robust stabilization
problem of a time-varying nonlinear system in lower triangular form, the solution of which will lead to the solution of the
global robust output regulation problem. An example shows the effectiveness of the proposed approach. 相似文献
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This paper deals with robust adaptive control for a class of perturbed strict-feedback non-linear systems preceded by unknown hysteresis non-linearities. By using the Prandtl-Ishlinskii model with play and stop operators and the properties of this model, a robust adaptive control scheme is proposed to mitigate effects of the preceded hysteresis. The global uniform ultimate boundedness of the closed-loop system is achieved, and the effectiveness of the proposed control approach is demonstrated through simulation examples. 相似文献
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In this paper, robust adaptive control is presented for a class of parametric-strict-feedback nonlinear systems with unknown time delays. Using appropriate Lyapunov-Krasovskii functionals, the uncertainties of unknown time delays are compensated for. Controller singularity problems are solved by employing practical robust control and regrouping unknown parameters. By using differentiable approximation, backstepping design can be carried out for a class of nonlinear systems in strict-feedback form. It is proved that the proposed systematic backstepping design method is able to guarantee global uniform ultimate boundedness of all the signals in the closed-loop system and the tracking error is proven to converge to a small neighborhood of the origin. Simulation results are provided to show the effectiveness of the proposed approach. 相似文献
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In this paper, an indirect approach to the dual‐mode adaptive robust controller (DMARC) is proposed, which combines the typical transient and robustness properties of variable structure systems with a smooth control signal in steady state, typical of conventional adaptive controllers, as model reference adaptive controller. The aim of this indirect version, here named indirect DMARC, is to provide a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, and so on, maintaining DMARC properties. In this paper, a stability analysis for the proposed controller and simulations to an unstable second‐order plant will be presented. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme. 相似文献