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不匹配不确定线性时滞系统的鲁棒自适应控制 总被引:5,自引:1,他引:4
对一类同时具有匹配不确定性及结构确定不匹配不确定性的不确定时滞系统进行鲁棒自适应控制。首先,采用李雅谱诺夫函数方法,结合基于线性矩阵不等式的鲁棒控制器设计方法和变结构控制方法,设计鲁棒控制器,保证闭环系统的二次渐近稳定。利用自适应参数估计方法,设计具有匹配不确定性范数界估计能力的鲁棒自适应控制器,保证闭环系统的一致终结有界。结合算例,进行控制器的设计和仿真研究,验证所提出的设计方法的有效性。 相似文献
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冷带轧机厚控系统自适应鲁棒输出反馈动态控制器设计 总被引:4,自引:1,他引:4
冷带轧机厚控系统可被认为是一个受外界干扰的线性不确定时滞系统.本文首先设计了标称系统下的鲁棒输出反馈动态控制器,以改善闭环系统的动静态性能;其次,在系统不需要满足不确定性匹配条件的情况下,将参数和外部扰动不确定性综合考虑.应用Lyapunov稳定性理论设计了系统不确定性上界参数的自适应估计器和系统的自适应控制器,保证了闭环系统的渐近稳定性,减小了设计的保守性;两者结合实现了板带出口厚度的有效控制.最后通过一个仿真实例说明本文所提出的自适应鲁棒控制器的有效性. 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:10,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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针对双容液位控制系统的泄漏等故障,通过线性化建模,研究了鲁棒自适应主动容错控制问题.首先在系统无故障正常运行情形,考虑建模误差和外界干扰等不确定性,利用不确定性上界自适应估计,设计了鲁棒自适应控制器.与此同时,对系统进行故障监控,设计了故障诊断滤波器,并利用对不确定性上界的估计终值提出了一种新的故障检测算法,进一步基于神经网络故障逼近,研究了一种修正控制律的自适应鲁棒容错控制器设计方法,该控制器通过补偿故障所带来的影响使闭环系统最终一致有界稳定.最后,通过仿真试验,验证了提出的方法的有效性. 相似文献
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针对一类含不确定参数且存在未知扰动的非线性系统,设计了一种新型的自适应鲁棒控制器。用反演设计思想获得具有待定系数的控制器表达式,用BP神经网络自适应调节控制器的参数。仿真结果表明该控制器对系统参数的不确定性和未知扰动具有一定的鲁棒性,并能保证闭环系统全局稳定。 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:3,自引:0,他引:3
针对一类输入带有一定的不确定性的非线性系统 ,设计了一种鲁棒自适应控制器。该控制器作用与系统 ,能保证闭环系统信号的全局有界性 ,又能使闭环系统输出任意小。 相似文献
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Adaptive robust control of uncertain time delay systems 总被引:1,自引:0,他引:1
The problem of adaptive robust control for uncertain linear systems with multiple delays occurring in the state variables is studied in this paper. The essential requirement for the uncertainties is that they satisfy matching conditions and are norm-bounded, but the bounds of the uncertainties are not necessarily known. An adaptive controller is developed based on linear matrix inequality technique and it is shown that the controller can guarantee the state variables of the closed loop system to converge, globally, uniformly and exponentially, to a ball in the state space with any pre-specified convergence rate. The effectiveness of our approach has been verified by its application in the control of river pollution process for the purpose of preserving standards of water constituents in streams. 相似文献
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Robust adaptive control for interval time-delay systems 总被引:3,自引:0,他引:3
1 Introduction The problem of time-delay is commonly encountered in various engineering systems, such as electric, pneumatic and hydraulic networks, long transmission lines, etc., and it is also a great source of systems instability and poor perfor- mance. During the last decades, we have seen an increasing interest for the control of this class of systems and many results have reported in the literature [1~5]. On the other hand, it has been recognized that nonlinear uncertainties are unavoid… 相似文献
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研究一类存在模型不确定性和外部扰动的互联机器人系统的控制问题.控制器由一般线性控制器,线性自适应控制器和非线性自适应控制器综合构成.通过Lyapunov理论证明设计的鲁棒分散自适应控制器能够有效地克服不确定性对系统的影响,实现闭环系统的渐近轨迹跟踪控制.最后给出一个仿真例子进一步验证控制器的有效性. 相似文献
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针对非线性系统,采用径向神经网络逼近及自适应控制方法,利用线性化反馈技术,设计一种自适应神经滑模控制器。滑模变结构控制具有独特的鲁棒性能以及对匹配不确定性和外干扰的完全自适应等特点,但容易出现系统抖振问题,将神经网络应用于滑模变结构控制系统的设计中,系统抖振得到抑制。仿真结果也表明将神经网络与滑模控制相结合的方法是行之有效的。 相似文献
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The problem of linear systems subject to actuator faults(outage,loss of efectiveness and stuck),parameter uncertainties and external disturbances is considered.An active fault compensation control law is designed which utilizes compensation in such a way that uncertainties,disturbances and the occurrence of actuator faults are account for.The main idea is designing a robust adaptive output feedback controller by automatically compensating the fault dynamics to render the close-loop stability.According to the information from the adaptive mechanism,the updating control law is derived such that all the parameters of the unknown input signal are bounded.Furthermore,a disturbance decoupled fault reconstruction scheme is presented to evaluate the severity of the fault and to indicate how fault accommodation should be implemented.The advantage of fault compensation is that the dynamics caused by faults can be accommodated online.The proposed design method is illustrated on a rocket fairing structural-acoustic model. 相似文献
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The variable structure controller is designed for a class of nonlinear uncertain time-delay system by using robust observer, and incorporating H-infinity control technique, the controller can guarantee the H-infinity performance of sliding mode dynamics and satisfy the reaching condition, which also does not require uncertainties to satisfy matching condition and linear boundary condition. The simulation example is given to illustrate the method. 相似文献