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具有输入饱和的非线性关联大系统的分散控制 总被引:1,自引:0,他引:1
考虑了一类具有输入饱和的不确定非线性关联大系统的分散输出反馈鲁棒镇定问题,利用Riccati方程的方法和矩阵的Moore-Penrose逆给出了这类系统的一种分散输出反馈鲁棒镇定控制器的设计方法.同时,考虑了一类具有输入饱和的不确定非线性相似关联大系统,利用相似系统的结构特点,简化了分散输出反馈鲁棒镇定的条件. 相似文献
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具有滞后输入的不确定系统的鲁棒镇定 总被引:11,自引:0,他引:11
本文研究具有滞后输入的不确定系统的鲁棒镇定问题,导出了系统可以用一个无记忆状态反馈控制律鲁棒镇定的条件,据此,提出了一个鲁棒稳定化控制器的设计方法. 相似文献
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研究一类带不确定输入动态非线性系统的H∞控制问题.在输入动态存在的条件下,
利用反传设计方法构造了鲁棒状态反馈控制器,使得闭环系统在零初始状态下从干扰到输出的
L2增益任意小,同时在干扰输入恒为零时闭环系统是全局渐近稳定的. 相似文献
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一类不确定切换系统的鲁棒状态反馈镇定 总被引:12,自引:1,他引:12
研究了一类扰动项不满足匹配条件的不确定切换系统的鲁棒镇定问题.在每个子系统均不能镇定的情况下,利用完备性条件和多李雅普诺夫函数方法,分别得到了不确定切换系统可镇定的充分条件.状态矩阵和控制输入矩阵同时带有时变、未知且有界的不确定性,基于凸组合技术和LMI方法,设计出鲁棒状态反馈控制器及相应的切换策略,使得闭环系统在其平衡点处是渐近稳定的.最后仿真结果表明所设计的控制器及切换策略的正确有效性. 相似文献
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不确定广义模糊系统的鲁棒模糊H∞控制器设计 总被引:2,自引:0,他引:2
研究了不确定广义模糊系统鲁棒H∞状态反馈控制器和动态输出反馈控制器设计问题。在E确定其它系数矩阵均存在不确定性情况下,给出鲁棒模糊H∞状态反馈控制器和动态输出反馈控制器存在的充分条件。鲁棒H∞状态反馈控制律的设计可能通过求解线性矩阵不等式得到,而动态输出反馈鲁棒H∞控制器可通过定义新变量得到,所求控制器使闭环系统对所有的不确定性稳定且满足H∞性能指标γ。 相似文献
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具有扰动输入的不确定性非线性系统的输出调节极限性能 总被引:2,自引:0,他引:2
本文研究了一类具有扰动输入的不确定性非线性系统的输出调节问题, 给出了该类系统在最差的不确定性参数和扰动输入情况下系统输出调节的极限性能. 所讨论的非线性系统是可镇定非最小相位系统, 并且该系统的零动态由“鲁棒输入对状态稳定(robust input-to-state stable)部分”和“不稳定但可镇定部分”组成. 假设系统的不确定性参数和扰动输入分别以非线性函数和仿射形式同时出现在系统零动态的鲁棒输入对状态稳定部分和系统的可线性化部分, 而且其可线性化部分的不确定性具有下三角形结构形式. 该系统输出调节问题的性能以其输出信号能量作为度量. 对于上述非线性系统, 在最差的不确定性参数和扰动输入情况下, 输出调节问题的极限性能只取决于镇定其零动态“不稳定部分”所需的最小能量. 相似文献
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Yusheng Liu Xing-Yuan Li 《Automatic Control, IEEE Transactions on》2002,47(5):848-856
The authors present a decentralized robust adaptive output feedback control scheme for a class of large-scale nonlinear systems of the output feedback canonical form with unmodeled dynamics. A modified dynamic signal is introduced for each subsystem to dominate the unmodeled dynamics and an adaptive nonlinear damping is used to counter the effects of the interconnections. It is shown that under certain assumptions, the proposed decentralized adaptive control scheme guarantees that all the signals in the closed-loop system are bounded in the presence of unmodeled dynamics, high-order interconnections and bounded disturbances. Furthermore, by choosing the design constants appropriately, the tracking error can be made arbitrarily small regardless of the interconnections, disturbances, and unmodeled dynamics in the system. An illustration example demonstrates the effectiveness of the proposed scheme 相似文献
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The robust global stabilization problem of a class of uncertain nonlinear systems with input unmodeled dynamics is considered using output feedback, where the uncertain nonlinear terms satisfy a far more relaxed condition than the existing triangulartype condition. Under the assumption that the input unmodeled dynamics is minimum-phase and of relative degree zero, a dynamic output compensator is explicitly constructed based on the nonseparation principle. An example illustrates the usefulness of the proposed method. 相似文献
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Hassan K. Khalil 《Automatica》2005,41(10):1821-1824
It is shown that a nonlinear output feedback stabilizing controller, which combines a globally bounded state feedback controller with a high-gain observer, is robust with respect to unmodeled fast actuator and sensor dynamics. The actuator and sensor dynamics need to be sufficiently fast relative to the dynamics of the nominal closed-loop system under state feedback, but they need not be faster than the observer dynamics. 相似文献
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Shaocheng TongAuthor Vitae Changliang LiuAuthor VitaeYongming LiAuthor Vitae 《Neurocomputing》2012,77(1):58-70
In this paper, an adaptive fuzzy robust output feedback control approach is proposed for a class of SISO nonlinear strict-feedback systems with unknown sign of high-frequency gain and the unmeasured states. The nonlinear systems addressed in this paper are assumed to possess the unmodeled dynamics, dynamical disturbances and unknown nonlinear functions, where the unknown nonlinear functions are not linearly parameterized, and no prior knowledge of their bounds is available. In the recursive designing, fuzzy logic systems are used to approximate the unknown nonlinear functions, K-filters are designed to estimate the unmeasured states, and a dynamical signal and Nussbaum gain functions are introduced to handle the unmodeled dynamics and the unknown sign of the high-frequency gain, respectively. Based on Lyapunov function method, a stable adaptive fuzzy output feedback control scheme is developed. It is mathematically proved that the proposed adaptive fuzzy control approach can guarantee that all the signals of the closed-loop system are uniformly ultimately bounded, the output converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated by the simulation examples. 相似文献
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Chun-Liang Lin Bor-Sen Chen 《Automatic Control, IEEE Transactions on》1992,37(11):1828-1834
The robustness of output feedback control designs for singularly perturbed systems based on the reduced systems is discussed. A frequency-domain approach is presented to determine the conditions for the stability of linear time-invariant systems subject to neglected high-frequency dynamics. In contrast with the qualitative analyses for robust stability that have appeared in the literature, this approach gives an explicit, computable bound on unmodeled dynamics which does not destabilize the systems. Stability conditions for various feedback control schemes are presented. It is noted that the approach, extended to systems with mixed singular-regular perturbations, can be used to derive the robust stability condition 相似文献
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This paper solves a class of robust control problems, with output feedback, for systems with mixed parametric uncertainty and unmodeled dynamics. This class of problems is characterized by a special rank-one assumption on the transfer matrix of the nominal plant. Under this assumption, the robust stabilization problem is reduced to a convex feasibility problem involving linear matrix inequalities. The data necessary to assemble these inequalities can be readily obtained from a state-space model of the nominal plant. 相似文献
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In this paper, for a class of uncertain nonlinear systems in the presence of inverse dynamics, output unmodeled dynamics and nonlinear uncertainties, a robust adaptive output‐feedback controller design is proposed by combining small‐gain theorem, changing supply function techniques with backstepping methods. It is shown that all the signals of the closed‐loop system are uniformly bounded in biased case, and the output can be regulated to a small neighborhood of the origin in unbiased case. Furthermore, under some additional assumptions, an asymptotical result is obtained. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
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In this paper, a robust adaptive neural network (NN) backstepping output feedback control approach is proposed for a class of uncertain stochastic nonlinear systems with unknown nonlinear functions, unmodeled dynamics, dynamical uncertainties and without requiring the measurements of the states. The NNs are used to approximate the unknown nonlinear functions, and a filter observer is designed for estimating the unmeasured states. To solve the problem of the dynamical uncertainties, the changing supply function is incorporated into the backstepping recursive design technique, and a new robust adaptive NN output feedback control approach is constructed. It is mathematically proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are semi-globally uniformly ultimately bounded in probability, and the observer errors and the output of the system converge to a small neighborhood of the origin by choosing design parameters appropriately. The simulation example and comparison results further justify the effectiveness of the proposed approach. 相似文献
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Adaptive regulation of nonlinear systems with unmodeled dynamics 总被引:1,自引:0,他引:1
Taylor D.G. Kokotovic P.V. Marino R. Kannellakopoulos I. 《Automatic Control, IEEE Transactions on》1989,34(4):405-412
A feedback linearization design is presented which includes unknown parameters and unmodeled dynamics. An adaptive update law which counteracts the effects of unknown parameters is shown to be robust to the unmodeled dynamics. The proposed design methodology is based on a conceptually simple stability analysis. Conditions are given for global stability of an adaptive control law designed for the reduced-order model of a class of nonlinear plants. In the presence of unmodeled dynamics, the regulation property is preserved in a stability region. The size of the region is estimated using bounds that not only prove robustness, but also allow a comparison between adaptive and nonadaptive nonlinear controls 相似文献
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Robust adaptive quantized DSC of uncertain pure‐feedback nonlinear systems with time‐varying output and state constraints 下载免费PDF全文
In this paper, the problem of neural adaptive dynamic surface quantized control is studied the first time for a class of pure‐feedback nonlinear systems in the presence of state and output constraint and unmodeled dynamics. The considered system is under the control of a hysteretic quantized input signal. Two types of one‐to‐one nonlinear mapping are adopted to transform the pure‐feedback system with different output and state constraints into an equivalent unconstrained pure‐feedback system. By designing a novel control law based on modified dynamic surface control technique, many assumptions of the quantized system in early literary works are removed. The unmodeled dynamics is estimated by a dynamic signal and approximated based on neural networks. The stability analysis indicates that all the signals in the closed‐loop system are semiglobally uniformly ultimately bounded, and the output and all the states remain in the prescribed time‐varying or constant constraints. Two numerical examples with a coarse quantizer show that the proposed approach is effective for the considered system. 相似文献