鲁棒自适应前馈控制器及其在间歇式余热锅炉给水系统中的应用

本文提出了基于降阶模型的自适应前馈控制器.当被控对象是开环不稳定或是非最小相 位系统,当存在未建模动态时,当受到有界干扰和可测干扰作用时该控制器不仅可以使自适 应控制系统稳定运行,而且实现对可测干扰的补偿.本文将该控制器应用于本溪第二炼钢厂 间歇式余热锅炉给水系统获得满意效果.     

一种新的间接自适应前馈控制算法及其应用

本文提出的单变量随机间接自适应控制算法适于控制大滞后的系统.它不仅能消除可测 干扰的影响,而且可以应用到多变量系统实现自适应解耦控制.该算法即使用于非最小相位 系统也具有全局收敛特性.本文还介绍了该算法在多变量电加热系统中的应用.     

非线性系统无需初始条件预设性能有界H∞容错控制

针对一类具有外部扰动和传感器故障的非线性系统, 本文研究了其自适应预设性能有界H∞容错控制问题. 本文提出一种新的预设性能控制设计方法, 使得预设性能函数的选择与系统被约束变量的初始状态完全无关,用一种全新的方式解决了传统预设性能方法的控制效果依赖被约束变量初始条件的问题. 基于该设计方法和有界H∞控制方法, 在未知系统初始条件的情况下获得了系统的自适应预设性能有界H∞控制器. 本文所设计的控制器能够保证系统中的所有信号都是有界稳定的, 系统的输出变量能够被预设性能函数约束, 并且对于外部干扰具有很好的抑制作用. 最后, 仿真结果验证了该控制器的可行性及有效性.     

降阶多变量状态空间自校正控制器的鲁棒性

本文建立了降阶极点配置状态空间自校正控制器的鲁棒性定量分析，在这个多变量自适应控制系统中，控制器设计中所用模型的阶低于实际过程的阶，稳定性分析结果表明，当建模误差满足一定条件时，在降阶控制器作用下的自适应闭环系统是输入输出有界的。     

非最小相位逐维定位多模型自适应解耦控制器

针对多变量系统中多个参数同时跳变导致模型数目巨大、计算时闻长等问题.提出了采用逐维定位技术的多模型自适应解耦控制器.该方法将多维空间的并行寻优问题转化为多个一维空间的串行寻优问题,可大大减少系统模型集的数量.针对非最小相位系统,将系统的耦合作用视为可测干扰,采用前馈方法予以消除.最后给出全局收敛性分析.仿真结果表明当采用相同数目的模型时,其控制效果明显优于常规多模型控制器.     

改进多变量广义最小方差解耦控制方法及应用

针对现有多变量广义最小方差解耦控制方法不能直接抑制有界可测干扰的问题,以及另加前馈控制器带来的结构复杂且成本增加的难题,提出一种改进的多变量广义最小方差解耦控制方法.所提方法通过在加权多项式矩阵和丢番图方程中的多项式矩阵同时引入积分项,用于直接抑制工业过程中有界可测干扰对系统的影响,从而消除稳态误差,提高控制精度.数值...     

具有强相容参数估计的多变量自校正前馈控制器

本文提出了一种新的自校正前馈控制器.该控制器具有如下优点:1)可以控制具有任意 传输延时结构的随机多变量系统;2)可以控制开环不稳定或非最小相位系统;3)不加积分作用 可以自适应消除偏差和可测干扰对输出的影响,消除跟踪误差;4)具有全局稳定特性;5)参数 估计具有强相容性.     

多变量自校正前馈控制器及其应用

本文提出了一种新的多变量自校正前馈控制器.该控制器不仅能完全消除可测干扰的影 响,而且能应用到多变量系统,实现自造应解耦控制.本文还介绍了该控制器如何实现多变量 解耦控制及其在多变量电加热炉上的应用.     

非线性零阶接近有界多模型神经网络自适应控制器

针对一类单变量非线性离散时间系统,提出一种零阶接近有界的多模型神经网络自适应控制器。该控制器包含一个非线性鲁棒自适应控制器和一个非线性神经网络自适应控制器。当系统非线性项放宽到零阶接近有界时,这两个控制器分别用于保证系统的稳定性和提高系统的性能,系统的控制输入由切换机构在两个控制器之间进行切换产生。最后给出了稳定性和收敛性证明,并通过仿真实验验证了该控制器的有效性。     

解谐最小方差自校正前馈控制器及其应用

本文提出了一种解谐最小方差自校正前馈控制器。该控制器将自校正控制的最优策略与经典的极点配置策略结合起来,因而具有两者的优点。该控制器不仅可以完全消除可测干扰的影响,而且可以应用于多变量系统实现自适应解耦控制。文中讨论了该控制器在多变量电加热炉中的工程应用。实时控制结果表明,自校正前馈控制器不仅能适应电网电压波动等因素引起的模型参数的改变,控温效果优于常规PID调节器,而且可使被控变量之间的耦合作用大大减小。     

Decentralized adaptive control of electrically-driven manipulators

This paper presents two new decentralized strategies for motion control of uncertain electrically-driven manipulators. The first controller is an adaptive position regulation scheme which ensures semiglobal asymptotic convergence of the position error if no external disturbances are present and semiglobal convergence of the error to an arbitrarily small neighborhood of zero in the presence of bounded disturbances. It is shown that the regulation scheme can be modified to provide accurate trajectory tracking control through the introduction of adaptive feedforward elements in the control law; this second control strategy retains the simple decentralized structure of the first controller and ensures arbitrarily accurate tracking in the presence of bounded disturbances. Each of the adaptive schemes is very efficient computationally and requires virtually no information concerning either the manipulator or actuator models. The results of computer simulations and laboratory experiments with both terrestrial and space manipulators demonstrate that accurate and robust motion control can be achieved by using the proposed approach.     

双线性自适应前馈控制及其应用

本文对存在可测干扰和界扰动的双线性系统提出了一种逢适应前馈控制算法，证明了算法的稳定性。     

Adaptive feedforward and feedback control of non-linear time-varying uncertain systems

An adaptive regulation scheme is proposed for a class of non-linear time-varying systems with parametric uncertainties. The proposed approach is based upon a combination of the adaptive backstepping design method and a feedforward control scheme to design a non-linear adaptive feedforward and feedback controller, such that robust output tracking can be achieved even in the presence of structured uncertainties, as well as time-varying, measurable disturbances. Although the systematic design procedure does not a priori satisfy the feedback linearizable system with triangular structures, however, the constructed condition must be satisfied to ensure that the control scheme has a stable inversion. Under the feasibility condition, the states of the resulting closed-loop system would be guaranteed boundedness and converge to a bounded set. Finally, the proposed methodology is illustrated by a chemical reactor example.     

Composite adaptive anti-disturbance control for MIMO nonlinearly parameterized systems with mismatched general periodic disturbances

In this paper, the problem of anti-disturbance control for a class of multi-input and multi-output (MIMO) nonlinearly parameterized systems with mismatched general periodic disturbances is investigated via a composite adaptive anti-disturbance control scheme. The composite adaptive anti-disturbance control method is presented by using disturbance observer technique, back-stepping method and adaptive control approach. A novel disturbance observer is designed to estimate the disturbances generated by a linear system with nonlinear output function. Rigorous stability analysis for the augmented closed-loop system is developed by direct Lyapunov stability theory. It is shown that the system outputs asymptotically converge to zero in the presence of mismatched general periodic disturbances. Finally, a simulation example is given to demonstrate the effectiveness of the proposed method.     

A robust adaptive sliding-mode control for rigid robotic manipulators with arbitrary bounded input disturbances

In this paper, a robust adaptive sliding-mode control scheme for rigid robotic manipulators with arbitrary bounded input disturbances is proposed. It is shown that the prior knowledge on the upper bound of the norm of the input disturbance vector is not required in the sliding-mode controller design. An adaptive mechanism is introduced to estimate the upper bound of the norm of the input disturbance vector. The estimate is then used as a controller gain parameter to guarantee that the output tracking error asymptotically converges to zero and strong robustness with respect to bounded input disturbances can be obtained. A simulation example is given in support of the proposed control scheme.     

Robust adaptive tracking control for a class of mechanical systems with unknown disturbances under actuator saturation

A robust adaptive tracking control scheme is presented for a class of multiple‐input and multiple‐output mechanical systems with unknown disturbances under actuator saturation. The unknown disturbances are expressed as the outputs of a linear exogenous system with unknown coefficient matrices. An adaptive disturbance observer is constructed for the online disturbance estimation. An actuator saturation compensator is introduced to attenuate the adverse effects of actuator saturation. The adaptive backstepping method is then applied to design the robust adaptive tracking control law. It is proved that the designed control law makes the system outputs track the desired trajectories and guarantees the global uniform ultimate stability of the closed‐loop control system. Simulations on a two‐link robotic manipulator verify the effectiveness of the proposed control scheme.     

基于观测器的一类非线性系统的自适应模糊控制

针对一类有界的不确定非线性系统设计了模糊观测器和自适应控制器.该方法不需要系统状态完全可测的条件,而是通过模糊观测器估计系统的状态变量并且能保证观测误差是一致最终有界的.该自适应控制器取得了良好的控制效果并且保证了跟踪误差的一致最终有界性.仿真结果表明了本文所提出的方法有效性.     

Robust model predictive control of constrained linear systems with bounded disturbances

This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances. The optimal control problem that is solved online includes, uniquely, the initial state of the model employed in the problem as a decision variable. The associated value function is zero in a disturbance invariant set that serves as the ‘origin’ when bounded disturbances are present, and permits a strong stability result, namely robust exponential stability of the disturbance invariant set for the controlled system with bounded disturbances, to be obtained. The resultant online algorithm is a quadratic program of similar complexity to that required in conventional model predictive control.