共查询到19条相似文献,搜索用时 281 毫秒
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针对一类带时滞状态扰动的系统,讨论了系统的鲁棒自适应镇定问题.当扰动有界且界未知时,运用自适应控制方法,设计出一类自适应控制器.采用Lyapunov_Karasovskii函数方法,证明了文中所提出的控制器可鲁棒镇定该系统. 相似文献
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本文针对一类具有多时滞状态扰动的非线性系统,讨论了其自适应鲁棒镇定问题。在本文中,多时滞状态扰动的上界未知,通过设计自适应律估计上界的值。基于Lyapumov-Krasovskii函数设计了鲁棒控制器,使闭环系统的鲁棒镇定问题可解。一个数值例子的仿真验证了结论的正确性。 相似文献
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针对一类不确定连续线性定常时滞系统,提出了一种执行器、传感器增益故障的鲁棒检测与估计策略。该类系统含有多状态与输出时滞,状态和输出方程上同时作用有非结构有界未知扰动。在Trunov和Polycarpou方法的基础上,设计了一种新的时滞系统自适应观测器用于检测并估计突变或缓变的增益故障。与Wang等针对线性无时滞不合输出扰动系统的工作相比,该结论更具一般性。理论分析表明,该方法对于未知扰动鲁棒,能够保证故障的估计,状态与输出估计偏差一致有界。数值仿真验证了方法的有效性。 相似文献
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考虑系统外界干扰、系统参数摄动等非线性扰动环节对中立型时滞系统的H∞影响,提出基于Lyapunov稳定性理论的鲁棒H∞控制器的设计思想.利用线性矩阵不等式(LMI)方法,给出了该类具有状态非线性不确定性中立型时滞系统的鲁棒∞控制器的设计实例.在非线性不确定函数满足增益有界的条件下,得到了该类时滞系统满足鲁棒∞性能的一个充分条件.通过求解一个线性矩阵不等式LMI,即可获得鲁棒∞控制器.仿真结果表明了基于Lyapunov稳定性理论,LMI技术设计的控制器克服了系统外界非线性干扰或系统本身非线性参数摄动的影响,实现了闭环系统的H∞性能条件下的渐近稳定,满足了该系统鲁棒H∞控制的要求. 相似文献
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In this paper, we investigate the stochastic stabilization problem for a class of bilinear continuous time-delay uncertain systems with Markovian jumping parameters. Specifically, the stochastic bilinear jump system under study involves unknown state time-delay, parameter uncertainties, and unknown nonlinear deterministic disturbances. The jumping parameters considered here form a continuous-time discrete-state homogeneous Markov process. The whole system may be regarded as a stochastic bilinear hybrid system that includes both time-evolving and event-driven mechanisms. Our attention is focused on the design of a robust state-feedback controller such that, for all admissible uncertainties as well as nonlinear disturbances, the closed-loop system is stochastically exponentially stable in the mean square, independent of the time delay. Sufficient conditions are established to guarantee the existence of desired robust controllers, which are given in terms of the solutions to a set of either linear matrix inequalities (LMIs), or coupled quadratic matrix inequalities. The developed theory is illustrated by numerical simulation 相似文献
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Hansheng Wu 《International journal of systems science》2016,47(12):2816-2826
The problem of decentralised robust stabilisation is considered for a class of uncertain large-scale time-delay interconnected dynamical systems. In the paper, the upper bounds of delayed state perturbations, uncertainties, interconnection terms, and external disturbances are assumed to be completely unknown, and the delays are assumed to be any non-negative constants. For such a class of uncertain large-scale time-delay interconnected systems, a new method is presented whereby a class of adaptation-free decentralised local robust state feedback controllers can be constructed. In addition, it is also shown that the solutions of uncertain large-scale time-delay interconnected systems can be guaranteed to be uniformly ultimately bounded. Finally, as an application to the practical mechanical systems, some simulations of a numerical example are provided to demonstrate the validity of the theoretical results. 相似文献
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《International journal of systems science》2012,43(16):2935-2961
ABSTRACTMany practical systems are described as unknown multi-input-multi-output (MIMO) time-delay systems with unknown disturbances. The properties and performance of multi-time-delay MIMO systems are quite different compared to delay-free systems, in particular if the time-delay is long. In addition, for practical implementation digital controllers are often required instead of analog controllers. This paper presents: (i) an overview of the mathematical modelling based on the observer/Kalman filter identification (OKID) method, with some insight on known/unknown MIMO systems; (ii) a study of the pole-zero maps of the identified delay-free system and the known/unknown time-delay system for various sampling periods; (iii) a development of the explicit pole-zero map of the sampled-data MIMO neutral system with multiple discrete and disturbed time delays; (iv) an utilisation of the OKID method for known/unknown time-delay sampled-data MIMO systems with unknown disturbances; (v) an extension of the existing equivalent-input-disturbance (EID) estimator, to determine a robust tracker for the unknown time-delay system with unknown disturbances; and (vi) an investigation on the unknown time-delay system with stable or unstable zeros to determine which traditional or customised tracker can be applied. In addition, simulation studies are performed on the relationship between pole-zero maps and delay times. 相似文献
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Hansheng Wu 《International journal of systems science》2013,44(10):1842-1854
The problem of decentralised adaptive robust stabilisation is considered for a class of uncertain large-scale time-delay interconnected dynamical systems. It is assumed that the upper bounds of the uncertainties, interconnection terms and external disturbances are unknown, and that the time-varying delays are any nonnegative continuous and bounded functions, and do not require that their derivatives have to be less than one. For such a class of uncertain large-scale time-delay interconnected systems, a new method is presented whereby a class of continuous memoryless decentralised local adaptive robust state feedback controllers is proposed. It is also shown that the solutions of uncertain large-scale time-delay interconnected systems can be guaranteed to be uniformly exponentially convergent towards a ball which can be as small as desired. In addition, since the proposed decentralised local adaptive robust state feedback controllers are completely independent of time delays, the results obtained in this article may also be applicable to a class of large-scale interconnected dynamical systems with uncertain time delays. Finally, a numerical example is given to demonstrate the validity of the results. 相似文献
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Hansheng Wu 《Automatica》2009,45(8):1979-1984
The problem of robust stabilization of uncertain nonlinear dynamical systems with multiple time delays is considered. In the paper, the upper bound of the nonlinearity and uncertainty, including delayed states, is assumed to be a linear function of some parameters which are still assumed to be unknown. Here, we do not require that the nonlinear terms including delayed states are linear norm-bounded in the states. An improved adaptation law with σ-modification is employed to estimate the unknown parameters, and a class of memoryless adaptive robust state feedback controllers is proposed. It is also shown that the proposed adaptive robust controllers can guarantee the uniform asymptotic stability of uncertain nonlinear time-delay systems. Finally, as a numerical example, an uncertain time-delay ecosystem with two competing species is given to demonstrate the validity of the results. 相似文献
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The delay-dependent robust stabilization problem for a class of uncertain linear timedelay systems containing saturating actuator is considered in this paper. The uncertain time-delay systems under consideration are described by state differential equations with time-varying unknown-but-bounded uncertain parameters and delayed state. The delay is assumed to be constant bounded but unknown. New robust stability criteria and a sufficient condition for the existence of memoryless robust stabilizing control law are derived. The results depend on the size of the delay and are given in terms of several linear matrix inequalities (LMIs). A numerical example is presented to illustrate the obtained results. 相似文献
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一种基于滤波参数在线辨识的鲁棒自适应滤波器 总被引:4,自引:1,他引:4
针对一类未建模动态和扰动下的非线性随机系统的状态估计问题,提出了一种基于
滤波参数在线辨识的鲁棒自适应滤波器.该算法通过极小化状态估计误差的方差同时正交化
相邻时刻的滤波残差,在线辨识状态预报误差和滤波残差的协方差,实现了对未建模动态和扰
动的自适应动态补偿,因此对未建模扰动具有很强的鲁棒性.仿真中研究了一个非线性随机时
滞系统,其参数存在缓变和突变,时滞会多次跳变,量测噪声发生了均值漂移和方差突变.算法
对时滞和参数的联合估计效果令人满意. 相似文献
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工业过程对象普遍存在时滞、模型参数不确定性和外部扰动多等特点,传统Smith预估控制方法难以设计出满足期望性能的鲁棒控制器.针对模型参数不确定性和外部扰动,本文采用自抗扰控制技术进行估计和补偿.针对系统存在时滞的特点,本文提出改进Smith预估器结构,提升扩张状态观测器对于扰动估计的实时性.在此基础上,本文以一阶时滞系统为例提出了控制器参数整定方法.首先根据最优参数选取准则确定预估器模型,然后在等效模型框架下采用定量反馈理论整定自抗扰控制器参数,确保控制系统达到预期性能指标.在仿真实验中,将所提出方法与几种常见时滞系统控制方法进行比较,通过设定值跟踪、抗扰及蒙特卡罗实验验证了所提出方法具有良好抗扰能力与鲁棒性. 相似文献