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一类时变非线性系统自适应控制 总被引:1,自引:0,他引:1
牛林 《计算技术与自动化》2003,22(2):43-45
针对非线性时变系统提出一种间接自适应方法。利用时尺变量函数,将非线性系统划分为若干子系统,间接自适应方法对任意信号都具有稳定性。仿真结果表明了,此法的有效性。 相似文献
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一类非线性系统的自适应模糊控制 总被引:6,自引:0,他引:6
针对一类非线性系统,利用模糊推理系统对非线性函数的逼近能力,导出基于Lyapunov稳定性理论的自适应控制器,不但能解决这类非线性系统的跟踪问题,而且可保证闭环系统的稳定性。仿真结果表明这一算法的有效性。 相似文献
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一类模糊非线性系统的直接鲁棒自适应输出反馈控制 总被引:3,自引:0,他引:3
针对一类未知非线性系统,利用模糊逻辑系统、H^∞控制和高增益观测器,提出一种模糊直接鲁棒自适应输出反馈控制方法。证明了所设计的输出反馈控制方法不但能保证闭环控制系统稳定,而且可获得在状态反馈控制器下的性能。仿真结果进一步验证了所提出方法的有效性。 相似文献
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In this paper, a novel excitation control is designed for improvement of transient stability of power systems. The control algorithm is based on the adaptive backstepping method in a recursive way without linearizing the system model. Lyapunov function method is applied in designing the controller to ensure the convergence of the power angle, relative speed of the generator and the active electrical power delivered by the generator when a large fault occurs. Compared with the existing nonlinear decentralized control approaches, the proposed controller has no requirement for the bounds of interconnections in the power system. And the new approach does not need the existence of solution of a designed algebraic Riccati equation. Furthermore, the transient stability performance of power systems can also be improved by the designed control approach. The efficacy of the designed controller has been demonstrated in a multimachine power system. Simulation results show transient stability enhancement of a power system in the face of a large sudden fault. 相似文献
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针对一类离散时间非线性被控对象,根据模型参数的变化范围,对被控对象建立多个模型,并针对每一模型设计控制器.基于模型的估计误差建立指标切换函数,每一采样时刻,利用指标切换函数选择最优模型,并将基于此模型的控制器切换为当前控制器.采用局部化技术,保证在不损失控制品质的同时,减少多模型自适应控制器的计算量.可以证明,多控制器相互切换时闭环系统是稳定的,同时由于多个模型的存在,控制品质得到了极大的改善. 相似文献
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In this paper, a novel control law is presented, which uses neural-network techniques to approximate the affine class nonlinear system having unknown or uncertain dynamics and noise disturbances. It adopts an adaptive control law to adjust the network parameters online and adds another control component according to H-infinity control theory to attenuate the disturbance. This control law is applied to the position tracking control of pneumatic servo systems. Simulation and experimental results show that the tracking precision and convergence speed is obviously superior to the results by using the basic BP-network controller and self-tuning adaptive controller. 相似文献
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A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. 相似文献
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A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. 相似文献
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In Chopra et al (2008) [Chopra, N., Spong, M. W., & Lozano, R. (2008). Synchronization of bilateral teleoperators with time-delay. Automatica, 44(8), 2142-2148], an adaptive controller for teleoperators with time-delays, which ensures synchronization of positions and velocities of the master and slave manipulators, and does not rely on the use of the ubiquitous scattering transformation, is proposed. In this paper it is shown that this controller will tend to drive to zero the positions of the joints where gravity forces are non-zero. Hence, the scheme is, in general, applicable only to systems without gravity. We also prove in this paper that this limitation can be obviated, replacing the positions and velocities-that are used in the coordinating torques and the adaptation laws-by their errors. Simulation results illustrate the performance of both schemes. 相似文献
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In this study, we developed and tested a high-precision motion trajectory tracking controller of a pneumatic cylinder driven by four costless on/off solenoid valves rather than by a proportional directional control valve. The relationship between the pulse width modulation (PWM) of a signal's duty cycle and control law was determined experimentally, and a mathematical model of the whole system established. Owing to unknown disturbances and unmodeled dynamics, there are considerable uncertain nonlinearities and parametric uncertainties in this pneumatic system. A modified direct adaptive robust controller (DARC) was constructed to cope with these issues. The controller employs a gradient type adaptation law based on discontinuous projection mapping to guarantee that estimated unknown model parameters stay within a known bounded region, and uses a deterministic robust control strategy to weaken the effects of unmodeled dynamics, disturbances, and parameter estimation errors. By using discontinuous projection mapping, the parameter adaptation law and the robust control law can be synthesized separately. A recursive backstepping technology is applied to account for unmatched model uncertainties. Kalman filters were designed sepa- rately to estimate the motion states and the derivative of the intermediate control law in synthesizing the deterministic robust control law. Experimental results illustrate the effectiveness of the proposed controller. 相似文献
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For the problem of stabilization of nonlinear systems linear in unknown constant parameters, we introduce the concept of an adaptive control Lyapunov function (aclf) and use Sontag's constructive proof of Artstein's theorem to design an adaptive controller. In this framework the problem of adaptive stabilization of a nonlinear system is reduced to the problem of nonadaptive stabilization of a modified system. To illustrate the construction of aclf's we give an adaptive backstepping lemma which recovers our earlier design. 相似文献
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A new adaptive control scheme for discrete-time systems is proposed. The objective is the tracking of the trajectory. Global boundedness convergence and boundedness are obtained for a certain subclass of nonlinear systems. 相似文献