共查询到19条相似文献,搜索用时 218 毫秒
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考虑一类具有非线性不确定性的系统的H∞控制器设计问题,给出了判断鲁棒渐近稳定和L2增益有限的充分条件,提出了输出反馈鲁捧H∞控制问题的可解条件,并给出了基于线性矩阵不等式的鲁棒H∞控制器的设计方法. 相似文献
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高超声速飞行器非线性鲁棒控制律设计 总被引:1,自引:0,他引:1
高超声速飞行器具有模型非线性程度高、耦合程度强、参数不确定性大、抗干扰能力弱等特点,其自主控制具有较大的挑战.论文提出了一种基于鲁棒补偿技术和反馈线性化方法的非线性鲁棒控制方法.文中首先采用反馈线性化的方法对纵向模型进行输入输出线性化,实现速度和高度通道的解耦和非线性模型的线性化.针对得到的线性模型,设计包括标称控制器和鲁棒补偿器的线性控制器.基于极点配置原理,设计标称控制器使标称线性系统具有期望的输入输出特性,利用鲁棒补偿器来抑制参数不确定性和外界扰动对于闭环控制系统的影响.基于小增益定理,证明了闭环控制系统的鲁棒稳定性和鲁棒跟踪性能.相比于非线性回路成形控制方法,仿真结果表明了所设计非线性鲁棒控制算法的有效性和优越性. 相似文献
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基于Backstepping 的非线性系统预设性能鲁棒控制器设计 总被引:1,自引:0,他引:1
针对一类具有外界扰动的严格反馈非线性系统,将Backstepping技术、预设性能控制和鲁棒控制相结合,提出一种预设性能鲁棒控制器设计方法.通过误差转换,建立系统等效误差模型,利用Backstepping和鲁棒控制逐步递推选择适当的Lyapunov函数设计预设性能鲁棒控制器.该控制策略兼顾系统的暂态和稳态性能,仿真实例表明了所提出设计方法的有效性. 相似文献
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一类不确定组合大系统的鲁棒分散控制 总被引:11,自引:0,他引:11
研究一类互联项与孤立了系统均含范数有界不确定性的非线性组合大系统的状态反馈鲁棒分散镇定问题,设计出线性状态反馈鲁棒分散控制器,使闭环系统在其平衡点处按指数渐近稳定,且鲁棒控制器具有全息结构,最后给出了一个数值例子,验证了所给结果的有效性。 相似文献
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针对一类不确定非仿射非线性系统的跟踪控制问题, 提出一种鲁棒Backstepping 控制策略. 首先, 为利用仿 射非线性方法设计控制器, 给出一种适用于全局的非仿射非线性近似方法; 然后, 设计快速收敛非线性微分器以估计复合干扰和获取虚拟信号的微分, 进而给出不确定非仿射非线性系统的复合控制器, 其中鲁棒项和阻尼项分别用于减少逼近误差和近似方法中动态误差对系统跟踪的影响; 最后, 通过仿真实验验证了所提出方法的有效性. 相似文献
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A novel decentralized adaptive fuzzy controller is developed for a class of large‐scale uncertain nonaffine nonlinear systems in this paper. Incorporating the benefits of fuzzy systems, implicit function theorem, and robust control technique, the interconnections between subsystems are extended to general unknown nonlinear functions. No a priori knowledge of lower and upper bounds on lumped uncertainties is required to implement each local controller. The resulting closed‐loop large‐scale system is proved to be asymptotically stable. The controller design is applicable to an automated highway system and simulation results confirm its practical usefulness. 相似文献
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This paper focuses on a class of large-scale interconnected minimum-phase nonlinear systems with parameter uncertainty and nonlinear interconnections. The uncertain parameters are allowed to be time-varying and enter the systems nonlinearly. The interconnections are bounded by nonlinear functions of states. The problem we address is to design a decentralized robust controller such that the closed-loop large-scale interconnected nonlinear system is globally asymptotically stable for all admissible uncertain parameters and interconnections. It is shown that decentralized global robust stabilization of the system can be achieved using a control law obtained by a recursive design method together with an appropriate Lyapunov function. 相似文献
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This paper presents an adaptive method to solve the robust fault-tolerant control (FTC) problem for a class of large scale systems against actuator failures and lossy interconnection links. In terms of the special distributed architectures, the adaptation laws are proposed to estimate the unknown eventual faults of actuators and interconnections, constant external disturbances, and controller parameters on-line. Then a class of distributed state feedback controllers are constructed for automatically compensating the fault and disturbance effects on systems based on the information from adaptive schemes. On the basis of Lyapunov stability theory, it shows that the resulting adaptive closed-loop large-scale system can be guaranteed to be asymptotically stable in the presence of uncertain faults of actuators and interconnections, and constant disturbances. The proposed design technique is finally evaluated in the light of a simulation example. 相似文献
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《Journal of Process Control》2014,24(4):410-423
This note makes effort at the problem of robust adaptive control for uncertain nonlinear systems with periodically nonlinear time-varying parameterized disturbances with known common period. A concise adaptive neural control scheme is developed by fusion of the Backstepping method and a novel MLN (minimum learning network) technique. In the control scheme, the intermediate variables, i.e., the virtual controls, do not appear in the finally actual control effort, and only one neural network is introduced to compensate sum of the uncertainties in the whole system. Thus, the outstanding advantage of the corresponding scheme is that the control law with a concise structure is model-independent and easy to implement in the process industries due to less computational burden. Based on the Lyapunov synthesis, it is proven that with the developed concise adaptive controller, all the signals in the closed-loop system converge to a small neighborhood of zero. Finally, three comparison examples demonstrate the effectiveness of the proposed algorithm. 相似文献
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This paper studies the problem of global robust disturbance attenuation via decentralized state feedback for a class of large-scale nonlinear systems with parameter and interconnection uncertainties. The parameter uncertainty is from a compact set and the uncertain interconnections are bounded by higher-order polynomials of state variables. The problem that we address is to design a robust decentralized controller such that the closed-loop large-scale nonlinear system is input-to-state stable and the L2 gain from the disturbance input to the controlled output is below a prescribed value for all admissible uncertain parameters and interconnections. A Lyapunov-based recursive design approach is developed to construct the decentralized controller explicitly. As a special case, the problem of almost disturbance decoupling via decentralized state feedback is also solved. 相似文献
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Xiao-Zheng Jin Guang-Hong Yang 《International Journal of Control, Automation and Systems》2009,7(5):702-710
In this paper, direct adaptive-state feedback control schemes are developed to solve the robust tracking and model matching
control problem for a class of distributed large scale systems with actuator faults, faulty and perturbed interconnection
links, and external disturbances. The adaptation laws are proposed to update the controller parameters on-line when all the
eventual faults, the upper bounds of perturbations and disturbances are assumed to be unknown. Then a class of distributed
state feedback controllers is constructed to automatically compensate the fault, perturbation and disturbance effects based
on the information from adaptive schemes. The proposed distributed adaptive tracking controller can ensure that the resulting
adaptive closed-loop large-scale system is stable and the tracking error decreases asymptotically to zero in the presence
of uncertain faults of actuators and interconnections, perturbations in interconnection channels, and disturbances. The proposed
adaptive design technique is finally evaluated in the light of a simulation example. 相似文献
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本文通过利用李雅普诺夫函数和李雅普诺夫矩阵方程的性质,对具有非线性滞后关联的一类随机大系统建立了分散鲁棒镇定的判据,所得闭环随机大系统的和稳定性不依赖于任意实数滞后,并对不确定系数矩阵和随机扰动强度具有鲁棒性。 相似文献