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Adaptive Output Feedback Control for a Class of Uncertain Stochastic Nonlinear Systems With Unknown Time‐Delays 下载免费PDF全文
This paper investigates the problem of output feedback control for a class of stochastic nonlinear systems with time‐delays. Using dynamic gain scaling technique, an adaptive update law is introduced to the observer and controller to deal with the unknown parameters. Based on the Lyapunov‐Krasovskii functional and stochastic Barbalat's lemma, it is proved that the proposed universal‐type adaptive output feedback controller can regulate all the states of the closed‐loop system almost surely. A simulation example is presented to illustrate the effectiveness of the proposed design procedure. 相似文献
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Operator-Based Robust Nonlinear Free Vibration Control of a Flexible Plate With Unknown Input Nonlinearity 下载免费PDF全文
In this paper,a robust nonlinear free vibration control design using an operator based robust right coprime factorization approach is considered for a flexible plate with unknown input nonlinearity.With considering the effect of unknown input nonlinearity from the piezoelectric actuator,operator based controllers are designed to guarantee the robust stability of the nonlinear free vibration control system.Simultaneously,for ensuring the desired tracking performance and reducing the effect of unknown input nonlinearity,operator based tracking compensator and estimation structure are given,respectively.Finally,both simulation and experimental results are shown to verify the effectiveness of the proposed control scheme. 相似文献
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Adaptive Robust Output Tracking Control of Uncertain Nonlinear Cascade Systems with Disturbance and Multiple Unknown Time‐Varying Delays 下载免费PDF全文
In this paper, an adaptive robust controller is designed for a class of uncertain nonlinear cascade systems with multiple time‐varying delays under external disturbance. It is assumed that multiple time‐varying delays are not exactly known and, therefore, the delayed terms must not appear in the adaptation and control laws. Accordingly, by using a Lyapunov‐Krasovskii function, delays are deleted from the adaptation and control laws. A controller based on an adaptive backstepping approach is designed to assure the global asymptotic tracking of the desired output and boundedness of the other states. The proposed controller is proved to be robust against unknown time‐varying delays and external disturbances applying to the system. Simulation results are provided to show the effectiveness of the proposed approach. 相似文献
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利用WNN(小波神经网络)逼近未知函数,将未知离散非线性系统转化为一类参数化严格反馈系统,进而对变换后的系统给出一个避免过参数化的自适应反推控制器,并证明该控制器可保证在存在参数不确定性和函数不确定性的条件下,整个自适应系统的状态全局有界,同时也可保证系统的跟踪误差落在一个大小与不确定性成比例的紧集中,仿真结果表明该控制器具有较强的鲁棒性,可适用于不同的对象。 相似文献
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Bing Chen Xiaoping Liu Shaocheng Tong 《Fuzzy Systems, IEEE Transactions on》2007,15(2):287-300
In this paper, the adaptive fuzzy tracking control problem is discussed for a class of uncertain multiple-input-multiple-output (MIMO) nonlinear systems with the block-triangular structure. The fuzzy logic systems are used to approximate the unknown nonlinear functions. By using the backstepping technique, the adaptive fuzzy tracking control design scheme is developed, which has minimal learning parameterizations. The adaptive fuzzy tracking controllers guarantee that the outputs of systems converge to a small neighborhood of the reference signals and all the signals in the closed-loop system are semiglobally uniformly ultimately bounded. Two examples are used to show the effectiveness of the approach 相似文献
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参数不确定非线性系统的自适应控制和鲁棒控制 总被引:4,自引:0,他引:4
研究一类参数不确定非线性系统的非自适应鲁棒控制及自适应控制问题。通过引入二人零和对策得到非自适应鲁棒控制律,并与参数估计结合得到自适应控制律。证明了参数估计有界和收敛时闭环系统Lyapunov稳定性和渐近稳定性。仿真结果说明了该方法的有效性及具体实现方法。 相似文献
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本文针对一类具有执行器故障的多输入多输出(Multi-input multi-output,MIMO)不确定连续仿射非线性系统,提出了一种最优自适应输出跟踪控制方案.设计了保证系统稳定性的不确定项估计神经网络权值调整算法,仅采用评价网络即可同时获得无限时域代价函数和满足哈密顿-雅可比-贝尔曼(Hamilton-Jacobi-Bellman,HJB)方程的最优控制输入.考虑执行器卡死和部分失效故障,设计最优自适应补偿控制律,所设计的控制律可以实现对参考输出的一致最终有界跟踪.飞行器控制仿真和对比验证表明了本文方法的有效性和优越性. 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:9,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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本文研究了一类高阶非线性不确定系统的自适应实际输出跟踪控制问题, 该问题在未知控制系数的下界精确知道的假设下已经得到了研究. 基于新的鲁棒自适应控制和连续控制思想, 成功去除该假设条件. 进而应用增加幂次积分的方法, 给出了构造连续自适应实际输出跟踪控制器的系统化方法. 该控制器确保闭环系统的所有状态全局稳定, 并且经过有限时间后, 跟踪误差可以被某一事先给定的任意正数界定. 最后, 通过一个仿真算例验证了理论结果的正确性. 相似文献
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International Journal of Control, Automation and Systems - This article studies the fixed-time output feedback tracking control based on the command filtered backstepping method for nonlinear... 相似文献
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A robust delay compensator has been developed for a class of uncertain nonlinear systems with an unknown constant input delay.The control law consists of feedback terms based on the integral of past control values and a novel filtered tracking error,capable of compensating for input delays.Suitable Lyapunov-Krasovskii functionals are used to prove global uniformly ultimately bounded(GUUB)tracking,provided certain sufficient gain conditions,dependent on the bound of the delay,are satisfied.Simulation results illustrate the performance and robustness of the controller for different values of input delay. 相似文献
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未知输出反馈非线性时滞系统自适应神经网络跟踪控制 总被引:6,自引:1,他引:6
An adaptive output feedback neural network tracking controller is designed for a class of unknown output feedback nonlinear time-delay systems by using backstepping technique. Neural networks are used to approximate unknown time-delay functions. Delay-dependent filters are introduced for state estimation. The domination method is used to deal with the smooth time-delay basis functions. The adaptive bounding technique is employed to estimate the upper bound of the neural network reconstruction error. Based on Lyapunov-Krasoviskii functional, the semi-global uniform ultimate boundedness (SGUUB) of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters and the neural node number. The feasibility is investigated by an illustrative simulation example. 相似文献
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Adaptive Neural Tracking Control for Unknown Output Feedback Nonlinear Time-delay Systems 总被引:1,自引:1,他引:1
CHEN Wei-Sheng LI Jun-Min 《自动化学报》2005,(5)
An adaptive output feedback neural network tracking controller is designed for a class of unknown output feedback nonlinear time-delay systems by using backstepping technique.Neural networks are used to approximate unknown time-delay functions.Delay-dependent filters are intro- duced for state estimation.The domination method is used to deal with the smooth time-delay basis functions.The adaptive bounding technique is employed to estimate the upper bound of the neural network reconstruction error.Based on Lyapunov-Krasoviskii functional,the semi-global uniform ultimate boundedness(SGUUB)of all the signals in the closed-loop system is proved.The arbitrary output tracking accuracy is achieved by tuning the design parameters and the neural node number. The feasibility is investigated by an illustrative simulation example. 相似文献