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为了实现一类分布式多输入系统的分散鲁棒自适应控制, 基于状态扩张和反演干扰抑制控制, 提出一种自律鲁棒自适应分散控制的新方法. 结合直接反馈线性化和最优控制, 给出了自律最优鲁棒自适应分散控制的设计方法. 仿真结果表明, 所提出方法能够有效实现各子系统的自律鲁棒稳定、全系统整体鲁棒稳定和不确定参数自适应, 同时通过求解LMI, 具备了最优干扰抑制的功能.
相似文献2.
针对大系统分散控制中的全局稳定性问题,将分散控制问题与优化问题相结合.提出了一种新的分散控制方法。该方法利用参数特征结构配置方法将分散控制转化为最优问题.通过求解最优问题得到子系统特征结构的参数,从而得到子系统的局域控制器。该控制器不但使子系统具有鲁棒性,而且保证了大系统的全局稳定性。由于分散控制还可以进行并行计算,因此可以提高计算速度。最后对空间站的数值进行了仿真,仿真结果表明,此算法是可行的。 相似文献
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非线性时滞大系统自适应神经网络分散控制 总被引:7,自引:3,他引:4
针对一类未知非线性时滞关联大系统,提出一种自适应神经网络分散跟踪控制方案.采用神经网络逼近各子系统内部的非线性函数和关联项中的时滞非线性函数;利用占有方法处理时滞项,采用Backstepping技术设计分散控制律和参数自适应律.基于Lyapunov-Krasoviskii泛函证明了闭环大系统所有信号半全局一致最终有界.通过调节设计参数和增加神经元个数,可以实现任意输出跟踪精度.实例仿真说明了该方案的可行性。 相似文献
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基于模糊动态模型的多变量系统模糊控制 总被引:3,自引:0,他引:3
采用模糊动态模型对多变量复杂非线性系统进行模糊控制.首先针对局部线性动态模型设计状态反馈控制器,然后利用模糊推理确定整个系统的控制;在一系列局部模型通过模糊隶属函数连接得到的连续的全局模型中,全面考虑其它关联子系统对标称线性系统的摄动,并利用大系统分散控制关联稳定性的概念和方法,得到了闭环模糊系统稳定的充分条件.仿真例子验证了该设计方法的正确性. 相似文献
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利用反演法的系统性和结构特点,研究了一类含有非线性参数的不确定非线性互联系统的鲁棒分散自适应控制问题.首先,在较直观、较一般的假定下,根据系统的结构特点利用反演法设计出其控制器和自适应律,并且每个子系统控制器和自适应律的构成只利用了本身系统的状态信息,即所谓的分散控制;其次,利用Lyapunov理论证明了所设计的控制器和自适应律使得被控系统的状态及参数估计误差一致终极有界.最后,算例仿真验证了所设计的控制算法的有效性. 相似文献
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不确定时变时滞组合系统的鲁棒分散控制 总被引:4,自引:0,他引:4
研究一类互联项与孤立子系统均含有时变状态时滞的不确定组合系统的状态反馈
鲁棒分散控制问题,利用线性矩阵不等式(LMI)方法设计出线性无记忆状态反馈分散控制
器使受控系统在平衡点处渐近稳定.最后给出的数值例子验证了所给结果的有效性. 相似文献
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针对分散控制无法实现子系统之间的信息交换,将分布式控制应用于网络化系统,以期实现子系统之间的信息交换和提高网络的性能.利用Lyapunov函数法,分别给出了在传统分散控制和网络分布式控制下的整个网络化系统稳定性的判据;给出了可容许的最大时滞的优化算法.将所得到的理论结果,结合到一个简单的网络化系统,进行数值仿真.结果表明,与传统分散控制相比较,网络分布式控制更能提高整个网络化系统稳定性的收敛速度. 相似文献
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In this paper, a new fuzzy adaptive control approach is developed for a class of SISO strict-feedback nonlinear systems, in which the nonlinear functions are unknown and the states are not available for feedback. By fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy adaptive high-gain observer is designed to estimate the unmeasured states. Under the framework of the backstepping design, fuzzy adaptive output feedback control is constructed recursively. It is shown that the proposed fuzzy adaptive control approach guarantees the semi-global boundedness property for all the signals of the resulting closed-loop system. Simulation results are included to illustrate the effectiveness of the proposed techniques. 相似文献
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Adaptive fuzzy ILC of nonlinear discrete-time systems with unknown dead zones and control directions
Qing-Yuan Xu 《International journal of systems science》2018,49(9):1878-1894
This paper presents an adaptive fuzzy iterative learning control (ILC) design for non-parametrized nonlinear discrete-time systems with unknown input dead zones and control directions. In the proposed adaptive fuzzy ILC algorithm, a fuzzy logic system (FLS) is used to approximate the desired control signal, and an additional adaptive mechanism is designed to compensate for the unknown input dead zone. In dealing with the unknown control direction of the nonlinear discrete-time system, a discrete Nussbaum gain technique is exploited along the iteration axis and applied to the adaptive fuzzy ILC algorithm. As a result, it is proved that the proposed adaptive fuzzy ILC scheme can drive the ILC tracking errors beyond the initial time instants into a tunable residual set as iteration number goes to infinity, and keep all the system signals bounded in the adaptive ILC process. Finally, a simulation example is used to demonstrate the feasibility and effectiveness of the adaptive fuzzy ILC scheme. 相似文献
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一种非线性系统的模糊自适应控制 总被引:9,自引:0,他引:9
针对一类非线性系统提出一种模糊自适应控制方案,设计中用模糊逻辑系统逼近非线性函数,骨于滑模原理及Lyapunov函数方法给出了闭环系统的稳定性分析。 相似文献
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In this paper, an adaptive type-2 fuzzy sliding mode control to tolerate actuator faults of unknown nonlinear systems with external disturbances is presented. Based on a redundant actuation structure, a novel type-2 adaptive fuzzy fault tolerant control scheme is proposed using sliding mode control. Two adaptive type-2 fuzzy logic systems are used to approximate the unknown functions, whose adaptation laws are deduced from the stability analysis. The proposed approach allows to ensure good tracking performance despite the presence of actuator failures and external disturbances, as illustrated through a simulation example. 相似文献
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In this paper, a direct fuzzy adaptive robust control approach is proposed for a class of SISO nonlinear systems with completely unknown virtual control directions, unknown nonlinearities, unmodeled dynamics and dynamic disturbances. In the backstepping recursive design, fuzzy logic systems are employed to approximate the combined nonlinear uncertainties, a dynamic signal and Nussbaum gain technique are introduced into the control scheme to dominate the dynamic uncertainties and solve the unknown signs of virtual control directions, respectively. It is proved that the proposed robust fuzzy adaptive scheme can guarantee the all signals in the closed-loop system are semi-globally uniformly ultimately bounded. The effectiveness of the proposed approach is illustrated via three examples. 相似文献
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In this paper, a general method is developed to generate a stable adaptive fuzzy semi‐decentralized control for a class of large‐scale interconnected nonlinear systems with unknown nonlinear subsystems and unknown nonlinear interconnections. In the developed control algorithms, fuzzy logic systems, using fuzzy basis functions (FBF), are employed to approximate the unknown subsystems and interconnection functions without imposing any constraints or assumptions about the interconnections. The proposed controller consists of primary and auxiliary parts, where both direct and indirect adaptive approaches for the primary control part are aiming to maintain the closed‐loop stability, whereas the auxiliary control part is designed to attenuate the fuzzy approximation errors. By using Lyapunov stability method, the proposed semi‐decentralized adaptive fuzzy control system is proved to be globally stable, with converging tracking errors to a desired performance. Simulation examples are presented to illustrate the effectiveness of the proposed controller. Copyright © 2006 John Wiley & Sons, Ltd. 相似文献
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一类大系统的分散自适应模糊滑模控制 总被引:10,自引:2,他引:8
研究了一类具有未知函数控制增益的非线性大系统的分散模糊控制问题.基于滑模控制原理和模糊集理论,提出了一种分散自适应模糊控制器的设计方法.通过理论分析,证明了分散自适应模糊控制系统是全局稳定的,跟踪误差可收敛到零的一个领域内. 相似文献
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基于模糊树模型的自适应模糊滑模控制方法 总被引:1,自引:1,他引:0
本文针对单输入–单输出仿射非线性系统提出了一种基于模糊树模型的具有监督控制器的模糊滑模控制方法. 该方法用模糊树模型逼近非线性系统中的未知非线性函数, 得到初始的控制器, 然后在线调节模糊树模型中的线性参数, 改善控制器的性能, 实现对有界参考输入信号的跟踪控制. 模糊树辨识方法自适应划分输入空间, 大大减少模糊规则的数目, 在一定程度上可以缓解困扰模糊控制中的”规则爆炸”问题. 该方法通过监督控制器保证闭环系统所有信号有界. 通过理论分析, 证明了跟踪误差收敛到零. 用倒立摆进行仿真验证, 结果表明该方法用较少的模糊规则, 就能得到满意的控制效果, 有推广应用价值. 相似文献
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In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and single-output (SISO) strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unknown high-frequency gain sign, and without the measurements of the states. In the backstepping recursive design, fuzzy logic systems are employed to approximate the unknown smooth nonlinear functions, K-filters is designed to estimate the unmeasured states, and Nussbaum gain functions are introduced to solve the problem of unknown sign of high-frequency gain. By combining adaptive fuzzy control theory and adaptive backstepping design, a stable adaptive fuzzy output feedback control scheme is developed. It has been proven that the proposed adaptive fuzzy robust control approach can guarantee that all the signals of the closed-loop system are uniformly ultimately bounded and the tracking error can converge to a small neighborhood of the origin by appropriately choosing design parameters. Simulation results have shown the effectiveness of the proposed method. 相似文献