共查询到19条相似文献,搜索用时 46 毫秒
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非线性系统H∞干扰衰减及其在自适应控制中的应用 总被引:2,自引:1,他引:1
研究非线性系统H∞干扰衰减的无源稳定性理论和微分对策的方法,讨论了该方法在模型部分已知或参数未知的非线性系统控制中的应用,并提出了一种基于鲁棒性设计的自适应控制律。 相似文献
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针对一类函数完全未知的严格反馈随机非线性系统,提出了一种基于backstepping技术的鲁棒H_∞自适应神经跟踪控制器设计的新方法.该方法可在随机非线性系统是依概率一致最终有界的情况下,保证随机非线性系统H_∞性能指标,且H_∞踪踪控制器容易获得.同时该方法去除了一些文献中神经网络逼近误差需要平方可积的假设.文中使用径向基函数(radial basis function, RBF)神经网络逼近打包的未知非线性函数.所设计的控制器能够保证闭环系统跟踪误差及其它所有信号都是依概率有界的,且对外界干扰具有鲁棒H∞抑制作用.最后,仿真结果验证了所提方法的有效性和正确性. 相似文献
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H∞控制做为一种已经相当成熟的理论,已经有了系统的解决方案,从Riccati方法到LMI方法.我们都可以通过Matlab工具箱方便的求得H∞控制器.注意到:这些方法得到的控制器增益都是定常的,这样的控制器虽然在工程实践中易于实现,但是就H∞控制的出发点,即干扰抑制问题本身而言,定常增益的控制器却不是必须的,本文提出了一种在原有的定常控制器基础上加入自适应项的控制器结构,经过理论分析,得出这样的控制器可以使得闭环系统具有更为优越的干扰抑制性能,文中同时给出了一个数值例子来显示该方法的有效性和优越之处. 相似文献
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Simultaneous stabilization for a collection of multi-input nonlinear systems with uncertain parameters is dealt with in this paper. A systematic method for obtaining a control Lyapunov function (CLF) is presented by solving the Lyapunov equation. A sufficient condition that a quadratic CLF is a common CLF for these systems is acquired. A continuous state feedback is designed to simultaneously stabilize these systems. Finally, the effectiveness of the proposed scheme is illustrated by a simulation example. 相似文献
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1 引言实际工程控制系统中存在着各种不确定性和干扰,其中有一类不确定性可描述为系统的状态矩阵的各个元素在一些确定的区间内变化,这就是所谓区间控制系统.例如,飞机运动系统、电机控制系统、以及各种TS型模糊控制系统[9]均可视为区间控制系统.近年来,关于区间系统鲁棒稳定性和H∞鲁棒控制理论的研究已取得了许多成果[1—8].但关于区间控制系统的鲁棒镇定和干扰抑制问题研究的还不多.本文将利用H∞鲁棒控制理论中的Riccati方程方法,研究区间控制系统鲁棒镇定的同时并将干扰抑制到一定水平的问题.2 预备… 相似文献
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讨论了一类不确定非线性切换系统的鲁棒H∞控制问题.首先,基于多Lyapunov函数方法,设计状态反馈控制器以及切换律,使得对于所有允许的不确定性.相应的闭环系统渐近稳定又具有指定的L2-增益.该问题可解的充分条件以一组含有纯量函数的偏微分不等式形式给出,此偏微分不等式较一般Hamilton-Jacobi不等式更具可解性.所提出的方法不要求任何一个子系统渐近稳定.接着作为应用,借助混杂状态反馈策略讨论了非切换不确定非线性系统的鲁棒H∞控制问题.最后通过一个简单例子说明了控制设计方法的可行性. 相似文献
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This paper focuses on the H∞ model reference tracking control for a switched linear parameter-varying (LPV) model representing an aero-engine. The switched LPV aero-engine model is built based on a family of linearized models. Multiple parameter-dependent Lyapunov functions technique is used to design a tracking control law for the desirable H∞ tracking performance. A control synthesis condition is formulated in terms of the solvability of a matrix optimization problem. Simulation result on the aero-engine model shows the feasibility and validity of the switching tracking control scheme. 相似文献
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研究带有干扰的非线性微分包含系统的镇定问题. 基于凸锥Lyapunov函数方法, 首先, 对于无干扰的这类系统, 设计可使闭环系统全局镇定的连续反馈控制律. 其次, 通过状态反馈, 对于受到两类有界干扰的这类微分包含系统的可达集进行了估计. 最后, 通过一个仿真例子说明所提出的设计方法的有效性. 相似文献
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In this paper, the problem of designing reduced-order H ∞ controllers is studied for nonlinear continuous-time systems with sampled measurements. Using the concepts of dissipativity and differential game, sufficient conditions are derived for the existence of such reduced-order H ∞ controllers. These conditions are expressed in terms of the solutions of two Hamilton–Jacobi inequalities, comprising a standard Hamilton–Jacobi inequality and a differential Hamilton–Jacobi inequality with jumps. These Hamilton–Jacobi inequalities are exactly those used in the construction of full-order H ∞ controllers. When these conditions hold, state-space formulae are also given for such reduced-order controllers. An illustrative example is also included. 相似文献
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Alejandro Donaire Jose Guadalupe Romero Romeo Ortega Bruno Siciliano Martin Crespo 《国际强度与非线性控制杂志
》2017,27(6):1000-1016
》2017,27(6):1000-1016
The problem of robustification of interconnection and damping assignment passivity‐based control for underactuated mechanical system vis‐à‐vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer‐loop controller to the interconnection and damping assignment passivity‐based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk‐on‐disk system illustrate the performance of the proposed controller. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献