| 板球系统的参数自调整反步控制 |
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| 引用本文： | 王红睿,田彦涛.板球系统的参数自调整反步控制[J].控制与决策,2009,24(5). |
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| 作者姓名： | 王红睿 田彦涛 |
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| 作者单位： | 吉林大学,通信工程学院,长春,130022 |
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| 基金项目： | 教育部高等学校博士学科点专项科研基金 |
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| 摘 要： | 为解决系统初始值大范围变化,且控制量受到饱和特性约束的板球系统镇定控制问题,提出一种自动调整待设计参数的反步控制方法.分析了反步法偏差系统的平衡点特性;说明了反步法待设计参数与偏差系统动态间的关系;构造了Mamdani模糊逻辑,以自动调整反步法待设计参数;考虑了控制量受饱和特性限制而引入的约束条件,进而以遗传算法优化了模糊规则.仿真和实验结果均表明,自动调整待设计参数的反步控制方法降低了镇定控制中的位置偏差和位置超调.
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| 关 键 词： | 非线性控制 反步法 板球系统 遗传算法 |
Backstepping control with automatic tuning parameters for ball and plate system |
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| WANG Hong-rui,TIAN Yan-tao.Backstepping control with automatic tuning parameters for ball and plate system[J].Control and Decision,2009,24(5). |
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| Authors: | WANG Hong-rui TIAN Yan-tao |
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| Affiliation: | School of Communication Engineering;Jilin University;Changchun 130022;China. |
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| Abstract: | Backstepping control method with automatic tuning design parameters is proposed in this paper.The method is employed for the stabilization control of ball and plate system when system initial conditions vary in a wide range and system controls are constrainted by saturation characteristics.Equilibrium points of error system in the backstepping control are analyzed.Relationships between design parameters in the backstepping control and the dynamics of the error system are illustrated.Mamdani fuzzy logic is u... |
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| Keywords: | Nonlinear control Backstepping design Ball and plate system Genetic algorithm |
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