共查询到19条相似文献,搜索用时 156 毫秒
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针对具有未知定常参数和标准Wiener噪声扰动的严格反馈非线性系统,结合参考信号,构造了误差系统,使用Backstepping算法设计了误差系统的自适应逆最优控制律和参数自适应律,进而解决了原系统的鲁棒自适应逆最优跟踪. 相似文献
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自适应鲁棒控制系统——稳定性和鲁棒性 总被引:1,自引:0,他引:1
本文以目前发展较快的自适应控制和鲁棒控制为基础,提出了一种将两者结合起来的自适应鲁棒控制系统。文中首先利用参考模型和可调系统匹配的条件推出了自适应规律,然后研究了该自适应律用于实际系统时的稳定性和鲁棒性。理论分析及应用的结果表明,这种自适应鲁棒控制系统的动态品质和鲁棒性优于参考模型自适应控制系统和鲁棒控制系统,有一定的应用价值。 相似文献
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针对一类具有未知输入齿隙、参数不确定以及未建模动态和干扰的非线性系统,设计了自适应鲁棒控制器.将齿隙非线性模型等价表示为具有有界建模误差的全局线性化模型,在此基础上设计了包含自适应模型补偿、反馈稳定和鲁棒反馈3部分的自适应鲁棒控制器,并给出了系统动态跟踪误差和稳态误差指标.理论分析证明,闭环控制系统信号有界且跟踪误差在任意期望的精度范围内,仿真研究验证了所提出方法的有效性. 相似文献
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针对永磁同步电机(PMSM)电流环非理想反电势的抑制问题,本文提出一种基于鲁棒最小二乘(RRLS)自适应律的间接自适应鲁棒控制(IARC)方法.该控制方法基于自适应鲁棒控制(ARC)理论,根据电机状态方程构造最小二乘型自适应律,加入修正因子增强自适应律对系统中扰动的鲁棒性.本文理论证明了该方法的稳定性.通过建立含有非理想反电势的电机模型,设计IARC电流控制器,并分析说明IARC具有比直接ARC更好的输出跟踪性能和扰动抑制能力.最后,通过仿真和实验验证了该方法的有效性. 相似文献
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在传统Backstepping 鲁棒自适应设计中, 虚拟控制函数的设计参数缺乏约束, 对此, 采用新的设计方法得到了新坐标系下的系统模型和参数替换律, 结合直接反馈线性化和最优控制策略, 最终给出了具有参数约束的非线性鲁棒自适应最优控制的设计方法. 以具体励磁系统参数为例进行仿真实验研究, 所得结果表明, 该鲁棒自适应控制方法可以实现状态参数的最优约束, 并能有效控制状态参数的收敛速度. 相似文献
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Robust direct model reference adaptive control using KP = LDU factorization for multivariable plants
Motivated by the idea of high frequency gain matrix KP ?=?LDU factorization, the purpose of this paper is to study the problem of robust direct model reference adaptive control for more general multivariable plants with unmodeled dynamics and disturbances. For multivariable plants, by reproving some properties similar to those in robust adaptive control theory for SISO plants and redefining the normalizing signal, the relationship between all the signals in the closed-loop plant and the normalizing signal can be established, and the stability and robustness of the closed-loop plant are analyzed rigorously from a qualitative point of view. 相似文献
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We propose a new model reference adaptive control algorithm and show that it provides the robust stability of the resulting closed-loop adaptive control system with respect to unmodeled plant uncertainties. The robustness is achieved by using a relative error signal in combination with a dead zone and a projection in the adaptive law. The extra a priori information needed to design the adaptive law, are bounds on the plant parameters and an exponential bound on the impulse response of the inverse plant transfer function. 相似文献
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自适应模糊控制理论的研究综述 总被引:18,自引:7,他引:11
针对近10年来自适应模糊控制的主要研究成果,从模糊系统、模糊控制、稳定性、模糊逼近和神经网络等方面较详细地概括与分析了自适应模糊控制理论的研究与进展,特别是在Lyapunov稳定性理论下,基于模糊模型的自适应模糊控制与鲁棒控制、滑模控制等传统方法的结合与互补为非线性系统建模与控制提供了强有力的工具.最后对自适应模糊控制新的研究方向进行了展望,模糊建模与自适应控制的研究具有重要的理论和实际意义. 相似文献
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A general approach for designing and the theory for analysing robust direct and indirect adaptive-control schemes for continuous-time plants is presented. The design approach involves the development of a general robust adaptive law and the use of the certainty equivalence principle to combine it with robust model reference and pole placement control structures. The global stability properties and robustness of the developed adaptive control schemes are established by using a general theory which relates the properties of signals in the mean sense over intervals of time. The developed theory and design approach are used to analyse and compare the robustness properties and performance of a wide class of robust adaptive laws which employ a dead-zone, fixed-σ, ε1, and a switching-σ modification as well as their variations. 相似文献
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CHIANG-CHENG CHIANG 《International journal of systems science》2013,44(7):1297-1312
The problem of optimal robust tracking in two-parameter adaptive control systems under non-linear time-varying unmodelled dynamics is examined. A new robust stability criterion is derived for analysing the robustness of adaptive control systems with non-linear time-varying model errors. Based on the concept of excess robustness and the theory of the minimum H∞norm, a simple and feasible design algorithm is presented to synthesize a two-parameter adaptive controller which ensures that adaptive control systems can achieve the object of optimal robust tracking in the presence of non-linear time-varying unmodelled dynamics. Simulation results that demonstrate features of the two-parameter adaptive controller with optimal robust tracking in the light of the design algorithm are included. 相似文献
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In this paper, we propose an indirect hybrid adaptive pole placement scheme for plant
with numodeled dynamics. Normalization technique and covariance reset least square method
with forgetting factor are used for parameter estimation. We design the discrete adaptive
control law directly from continuous plant, which guarantees the robust stability of the closed-loop
system. Theoretical analysis and digital simulation results show that this scheme is superior to
similar continuous scheme and discrete scheme. 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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Robust adaptive control for nonlinear uncertain systems 总被引:1,自引:0,他引:1
A direct robust adaptive control framework for nonlinear uncertain systems with constant linearly parameterized uncertainty and nonlinear state-dependent uncertainty is developed. The proposed framework is Lyapunov-based and guarantees partial asymptotic robust stability of the closed-loop system; that is, asymptotic robust stability with respect to part of the closed-loop system states associated with the plant. Finally, a numerical example is provided to demonstrate the efficacy of the proposed approach. 相似文献