共查询到17条相似文献,搜索用时 52 毫秒
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研究了一类随机非线性系统的逆最优增益设计问题,系统中除了方差未知的Wiener噪声之外,还含有Markov跳跃参数. 首先,给出此类系统逆最优增益设计问题可解的一个充分条件. 其次,针对一类具有严格反馈形式的随机非线性系统,利用积分反推法,给出了依概率全局渐近稳定和逆最优控制策略的设计方法. 其中,所设计的Lyapunov函数和控制策略与模态显式无关,克服了由于Markov跳跃模态引起的耦合项所带来的设计困难. 最后,通过仿真验证了控制策略的有效性. 相似文献
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针对具有未知定常参数和标准Wiener噪声扰动的严格反馈非线性系统,结合参考信号,构造了误差系统,使用Backstepping算法设计了误差系统的自适应逆最优控制律和参数自适应律,进而解决了原系统的鲁棒自适应逆最优跟踪. 相似文献
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控制量前具有不确定系数的电液伺服系统自适应控制 总被引:2,自引:0,他引:2
针对控制输入前具有不确定系数的电液伺服位置系统精确跟踪控制问题, 提出了一种改进的自适应Backstepping控制器设计方法. 该方法通过对系统模型的等价变换和选择合适的Lyapunov函数, 有效解决了系统模型中控制输入前存在不确定系数而导致所设计的控制器存在参数自适应律, 而自适应律中存在控制量造成的嵌套难题. 以驱动连铸结晶器的电液伺服位置系统为例, 进行了控制器的设计和稳定性证明. 仿真研究结果表明, 所提出的改进设计方法是可行的, 设计的控制器具有较强的鲁棒性和良好的跟踪性能. 相似文献
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一类非线性不确定系统的最优自适应控制 总被引:2,自引:1,他引:1
研究了一类含有系统扰动,并且状态项与控制项中同时含有未知参数的非线性系统的反馈稳定问题.在控制器的设计中,将原系统的自适应稳定问题转化为扩展系统的非自适应稳定问题,并利用扩展系统的鲁棒控制Lyapunov函数,设计出使原系统自适应稳定的控制律.进一步,利用逆最优的方法,证明了该控制律同时也是满足某种性能指标的最优控制。 相似文献
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将一类具有输入饱和的严格反馈单输入单输出非线性系统作为研究对象,解决其自适应渐近跟踪控制问题.与已有结果不同,所考虑的虚拟控制参数可以是未知且增益函数的上界信息也是未知的,这给控制器的设计带来了挑战.通过结合光滑函数及有界估计方法,设计一种新颖的自适应渐近跟踪控制策略;其次,通过引入Nassbaum函数解决由输入饱和不确定参数以及未知虚拟控制参数带来的影响;此外,通过利用未知增益的下界信息巧妙地构造一个特殊的李雅普诺夫函数并结合不等式技巧,可以消除对控制增益函数上界信息的需要,并保证系统的全局稳定性和跟踪性能;最后,通过实例仿真及对比仿真表明所提出自适应渐近跟踪控制算法的有效性. 相似文献
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Adaptive Stabilization for a Class of Stochastic Nonlinear Systems with Prandtl‐Ishlinskii Hysteresis 下载免费PDF全文
Wei Liu 《Asian journal of control》2014,16(2):539-545
This paper deals with a class of stochastic nonlinear systems with unknown hysteresis. A stochastic Lyapunov method is applied for systems in strict‐feedback form driven by unknown Prandtl‐Ishlinskii hysteresis and Wiener noises of unknown covariance. An adaptive controller is obtained which guarantees the global asymptotic stabilization in probability. Simulation results are provided to illustrate the effectiveness of the proposed approach. 相似文献
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In this paper, a new model‐reference adaptive moment control method is proposed to control the first and second moments of an uncertain nonlinear system with additive external stochastic excitation. This method has established a closed‐loop control system that calculates an adaptive stochastic nonlinear input by introducing a Lyapunov function and adaptive update law. The proposed adaptive structure is innovative in trying to minimize two errors simultaneously: the moments tracking error and the error between the nonlinear system output and reference model. Furthermore, the proposed method can control the expected and covariance matrices of the states without needing to solve the complicated Fokker‐Planck‐Kolmogorov differential equation or using the approximate methods. Simulation has been performed on two practical examples, which show a good performance for the designed controller. 相似文献
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Adaptive Stabilization for a Class of Stochastic Nonlinearly Parameterized Nonholonomic Systems with Unknown Control Coefficients 下载免费PDF全文
Yuqiang Wu 《Asian journal of control》2014,16(6):1829-1838
This paper investigates the problem of adaptive state feedback stabilization for a class of stochastic nonlinearly parameterized nonholonomic systems in chained form with unknown control coefficients. By defining two new unknown parameters whose dynamic updating laws are properly chosen and also by skilfully using the parameter separation, input‐state‐scaling, and integrator backstepping techniques, an adaptive state feedback controller is successfully designed, which guarantees that the closed‐loop system is asymptotically stabilized in probability. A simulation example is provided to illustrate the effectiveness of the proposed approach. 相似文献
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一类不确定非线性系统的鲁棒自适应控制 总被引:9,自引:1,他引:9
针对一类具有一般不确定性和未知参数的非线性系统,设计出一种适用于输出跟踪的鲁棒自适应控制器.该控制器对系统的参数和状态的不确定性具有鲁棒性,能保证闭环系统的全局稳定性,并解决了ε-跟踪问题.仿真实例表明,所设计的鲁棒自适应控制器具有良好的跟踪性能. 相似文献
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《Advanced Robotics》2013,27(13-14):1729-1750
Most of the methods to date on bilateral control of nonlinear teleoperation systems lead to nonlinear and coupled closed-loop dynamics, even in the ideal case of perfect knowledge of the master, the slave, the human operator and the environment. Consequently, the transparency of these closed-loop systems is difficult to study. In comparison, inverse dynamics controllers can deal with the nonlinear terms in the dynamics in a way that, in the ideal case, the closed-loop systems become linear and decoupled. In this paper, for multi-d.o.f. nonlinear teleoperation systems with uncertainties, adaptive inverse dynamics controllers are incorporated into the four-channel bilateral teleoperation control framework. The resulting controllers do not need exact knowledge of the dynamics of the master, the slave, the human operator or the environment. A Lyapunov analysis is presented to prove the transparency of the teleoperation system. Simulations are also presented to show the effectiveness of the proposed approach. 相似文献