共查询到19条相似文献,搜索用时 140 毫秒
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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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本文讨论了多时滞多扰动线性系统的鲁棒控制器设计问题,证明了在一定条件下时滞扰动系统能稳的充分条件为其标称系统二次型能稳,给出了按标称系统的给定稳定裕度设计系统鲁棒控制器的方法。 相似文献
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K. H. Lee 《International journal of control》2013,86(10):1544-1551
This paper deals with robust stabilization of a class of linear discrete-time systems under non-linear perturbations via output feedback. A bound on the non-linear perturbations is maximized in the design. It is shown that degree of freedoms by the introduction of instrumental variables employed in this paper lead to much flexibility in obtaining both a robust output feedback controller and a maximal allowable bound of the non-linear perturbations. An improved method involving linear matrix inequalities are suggested to solve the matrix inequalities characterizing a solution of the robust stabilization problem. Consequently, the proposed method can yield a much less conservative result than that of earlier methods. Of major interest is an extension to a class of interconnected systems composed of linear subsystems with non-linear interactions. A robust decentralized controller is presented such that the closed-loop systems are maximally tolerant to interconnected non-linear couplings. Numerical examples illustrate the validity of the proposed approach. 相似文献
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A decentralized model reference adaptive variable structure controller for large-scale time-varying delay systems 总被引:2,自引:0,他引:2
Chien-Hsin Chou Chih-Chiang Cheng 《Automatic Control, IEEE Transactions on》2003,48(7):1213-1217
In this note, the problem of decentralized model reference adaptive variable structure control for a class of perturbed large-scale systems with varying time-delay interconnections is investigated. Based on the Lyapunov stability theorem, an adaptive variable structure control strategy for solving the robust tracking problem without the knowledge of upper bound of perturbations is developed. The use of adaptive technique is to adapt the unknown upper bound of perturbations so that the objective of globally asymptotical stability is achieved. Once the system enters the sliding manifold, the dynamics of controlled systems are insensitive to matching perturbations. Finally, an example is given to demonstrate the feasibility of the proposed control scheme. 相似文献
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大系统的BIBO稳定性 总被引:3,自引:0,他引:3
本文首先给出了一类大系统有界输入有界输出(BIBO)稳定化的一种分散控制方案。其可稳定化的条件仅仅是其子系统一致完全可控。然后考虑了每个子系统含有非线性摄动的大系统鲁棒稳定化问题,其摄动的允许界通过局部状态反馈获得,最后应用获得的结果到线性单系统,改进了Wu等人的一些近期结果。 相似文献
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Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems. 总被引:3,自引:0,他引:3
Yeong-Chan Chang 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2005,35(6):1108-1119
This paper addresses the problem of designing adaptive fuzzy-based (or neural network-based) robust controls for a large class of uncertain nonlinear time-varying systems. This class of systems can be perturbed by plant uncertainties, unmodeled perturbations, and external disturbances. Nonlinear H(infinity) control technique incorporated with adaptive control technique and VSC technique is employed to construct the intelligent robust stabilization controller such that an H(infinity) control is achieved. The problem of the robust tracking control design for uncertain robotic systems is employed to demonstrate the effectiveness of the developed robust stabilization control scheme. Therefore, an intelligent robust tracking controller for uncertain robotic systems in the presence of high-degree uncertainties can easily be implemented. Its solution requires only to solve a linear algebraic matrix inequality and a satisfactorily transient and asymptotical tracking performance is guaranteed. A simulation example is made to confirm the performance of the developed control algorithms. 相似文献
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The problem of robust stabilization for a class of uncertain dynamical systems with multiple delayed state perturbations is considered. In this paper, it is assumed that each perturbation is bounded by a linear function of delayed state with unknown gains, and an adaptation law is proposed to estimate these unknown gains. Moreover, by making use of the updated values of these unknown bounds we propose a memoryless state feedback controller for such a class of uncertain time-delay systems. Based on Lyapunov stability theory and Lyapunov-Krasovskii functional, it is shown that the closed-loop dynamical system resulting from the proposed adaptive robust control schemes is globally stable in the sense of uniform ultimate boundedness. Finally, a numerical example is given to demonstrate the validity of the results 相似文献
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针对未知非线性、外界干扰和参数摄动等不确定因素对实际转台控制系统的影响,提出了自适应反推神经网络的转台鲁棒控制器设计.首先给出自适应Backstepping控制器的设计方法及步骤,接着采用RBF神经网络对转台对象参数的不确定因素上界值加以辨识,实现转台系统的鲁棒控制.其中Backstepping鲁棒控制作为主控制器,RBF神经网络实现了不确定上界值的在线辨识.仿真结果表明,自适应Backstepping神经网络控制很好地克服了对象的不确定性,实现控制系统的较强鲁棒性,适于高精度飞行仿真转台系统的实时鲁棒控制. 相似文献
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Hansheng Wu 《Automatica》2009,45(8):1979-1984
The problem of robust stabilization of uncertain nonlinear dynamical systems with multiple time delays is considered. In the paper, the upper bound of the nonlinearity and uncertainty, including delayed states, is assumed to be a linear function of some parameters which are still assumed to be unknown. Here, we do not require that the nonlinear terms including delayed states are linear norm-bounded in the states. An improved adaptation law with σ-modification is employed to estimate the unknown parameters, and a class of memoryless adaptive robust state feedback controllers is proposed. It is also shown that the proposed adaptive robust controllers can guarantee the uniform asymptotic stability of uncertain nonlinear time-delay systems. Finally, as a numerical example, an uncertain time-delay ecosystem with two competing species is given to demonstrate the validity of the results. 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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研究一类包含未知非线性项的非线性系统的鲁棒输出调节问题.此类非线性系统由一包含未知参数的线性中性稳定的外系统驱动.首先运用调节器方程组解和标准内模将输出调节问题转化为镇定问题;然后给出控制律镇定闭环系统,同时利用镇定输入项和外系统信息设计出自适应内模方程.控制律使得闭环系统的信号全局最终有界,且误差被调节至预先设定的任意小的精度值.仿真结果验证了所提出设计方法的有效性. 相似文献