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针对带一类非线性参数系统的状态反馈自适应跟踪控制问题,通过设计一种新的李亚普诺夫函数--加权控制李亚普诺夫函数,由它作用于控制器和参数调整律,使之达到全局渐近跟踪从而满足控制指标。 相似文献
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研究了连续TS模糊控制系统稳定性判别条件与平衡点稳定吸引域估计方法的进一点改进。首先基于模糊李亚普诺夫函数,给出了连续TS模糊控制系统的稳定性充分条件;该条件更一步减小了判别的保守性。其次基于模糊李亚普诺夫函数,进一步改进了连续TS模糊控制系统渐近稳定平衡点稳定吸引域的估计方法;该方法简单实用,最大限度地估计稳定吸引域大小。实例验证了该方法的有效性和实用性。 相似文献
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摘要:本文提出了一种李亚普诺夫函数的非线性控制方法,用于完成欠驱动刚体航天器(under-actuated rigid spacecraft,UCRS)姿态系统的稳定控制,确保UCRS全程稳定飞行. 首先,根据已知的UCRS系统的动力学模型和利用( , )参数表述的运动学模型,变换得到动力学和运动学的一体化模型;其次,对于有驱动轴输出力矩作用的姿态控制通道,通过分别构造合适的李亚普诺夫函数,推导得到驱动轴控制力矩的耦合等式;再次,通过解算两个驱动轴控制力矩的耦合等式,推导得到驱动轴控制力矩的函数表达式,完成李亚普诺夫函数的非线性控制器(Lyapunov function nonlinear controller,LFNC)设计,确保姿态系统参数的一致收敛;最终,为了检验本文提出的LFNC的性能,进行了数值仿真实验,另外选取了奇异避免的反步控制器(singularity avoidance back-stepping controller,SABSC)进行比较,实验结果表明本文提出的控制器LFNC具有更好的控制性能. 相似文献
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基于反步设计的构造性非线性预测控制算法 总被引:1,自引:0,他引:1
针对具有状态和输入约束的严格反馈非线性系统,提出一种反步设计构造性非线性预测控制算法.利用反步设计法离线构造系统的控制李亚普诺夫函数,进而得到系统的镇定可调控制器即稳定控制类.基于性能指标,滚动优化控制器可调参数,计算满足系统约束的预测控制量.进一步,运用控制李亚普诺大函数的性质建立闭环系统的稳定性.最后,应用轮式移动机器人的优化控制验证本文结果的有效性. 相似文献
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本文研究了含有不确定参数的非线性大系统的稳定性,当参数向量受到限制时,这种稳定
性称为鲁棒(粗壮)稳定性.在状态空间的含原点的有限域中,利用李亚普诺夫函数进行集结
线性化,可将大系统化为线性系统,由于线性化的任意性,得到的线性系统不是唯一的.文
中阐明了利用图论方法建立的大系统的多层结构可以简化稳定性判据,帮助选择局部反馈,以
实现大系统的镇定. 相似文献
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本文考虑一类具有未知时变参数并且控制方向未知的非线性系统的重复学习控制.针对重复学习控制的特点,所构造的李亚普诺夫函数不仅与当前参数估计误差有关,也与前一次参数估计误差有关.基于该李亚普诺夫函数,结合Nussbaum类型函数,提出了控制方向未知的系统的重复学习方法.该方法不采用饱和控制,但能保证在闭环系统中跟踪误差在重复区间上一致收敛于零.最后,一个仿真例子说明了该方法的可行性. 相似文献
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应用一种新的自适应动态最优化方法(ADP),在线实现对非线性连续系统的最优控制。首先应用汉密尔顿函数(Hamilton-Jacobi-Bellman, HJB)求解系统的最优控制,并应用神经网络BP算法对汉密尔顿函数中的性能指标进行估计,进而得到非线性连续系统的最优控制。同时引进一种新的自适应算法,基于参数误差,在线实现对系统进行动态最优求解,而且通过李亚普诺夫方法对参数收敛情况也进行详细的分析。最后,用仿真结果来验证所提出的方法的可行性。 相似文献
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Asymptotic and exponential stability of nonlinear singularly perturbed systems are investigated via Lyapunov stability techniques. A quadratic-type Lyapunov function for a singularly perturbed system is obtained as a weighted sum of quadratic-type Lyapunov functions of two lower order systems. Estimates of domain of attraction, of upper bound on perturbation parameter, and of degree of exponential stability are obtained. The method is illustrated by studying the stability of a synchronous generator connected to an infinite bus. 相似文献
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This paper addresses stability analysis and stabilization for Takagi-Sugeno fuzzy systems via a so-called fuzzy Lyapunov function which is a multiple Lyapunov function. The fuzzy Lyapunov function is defined by fuzzily blending quadratic Lyapunov functions. Based on the fuzzy Lyapunov function approach, we give stability conditions for open-loop fuzzy systems and stabilization conditions for closed-loop fuzzy systems. To take full advantage of a fuzzy Lyapunov function, we propose a new parallel distributed compensation (PDC) scheme that feedbacks the time derivatives of premise membership functions. The new PDC contains the ordinary PDC as a special case. A design example illustrates the utility of the fuzzy Lyapunov function approach and the new PDC stabilization method. 相似文献
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A new sufficient condition for the robust stability of continuous-time uncertain linear systems with convex bounded uncertainties is proposed in this note. The results are based on linear matrix inequalities (LMIs) formulated at the vertices of the uncertainty polytope, which provide a parameter dependent Lyapunov function that assures the stability of any matrix inside the uncertainty domain. With the aid of numerical procedures based on unidimensional search and the LMIs feasibility tests, a simple and constructive way to compute robust stability domains can be established 相似文献
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This paper is concerned with the stabilization problem for a class of switched linear parameter‐varying (LPV) systems with Markovian jump parameters whose transition rate is completely unknown, or only its estimated value is known. Firstly, a new criterion for testing the stochastic stability of such systems is established. Then, using the multiple parameter‐dependent Lyapunov function method, we design a parameter‐dependent state‐feedback controller for individual switched LPV subsystem to guarantee stochastic stability of the closed‐loop switched LPV systems with Markovian jump parameters under uncertain transition rates. Finally, as an application of the proposed design method, the stabilization problem of a turbofan‐engine which cannot be handled by the existing methods is investigated. 相似文献
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This paper presents several new robust stability conditions for linear discrete‐time systems with polytopic parameter uncertainties and time‐varying delay in the state. These stability criteria, derived by defining parameter‐dependent Lyapunov functions, are not only dependent on the maximum and minimum delay bounds, but also dependent on uncertain parameters in the sense that different Lyapunov functions are used for the entire uncertainty domain. It is established, theoretically, that these robust stability criteria for the nominal and constant‐delay case encompass some existing result as their special case. The delay‐dependent and parameter‐dependent nature of these results guarantees the proposed robust stability criteria to be potentially less conservative. 相似文献
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针对一类多延时多变量网络控制系统(NCS),讨论其建模和稳定性问题.首先假设传感器采用时间驱动、控制器和执行器采用事件驱动,建立了系统在连续时域~MIMO数学模型;然后根据Lyapunov稳定性原理和Razumikhin定理,构造系统的Lyapunov函数,并分析系统的渐近稳定性,进而得到了系统稳定的时延参数和稳定性条件;最后通过仿真实例验证了该类网络控制系统的稳定判据. 相似文献
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一类T-S模糊控制系统的稳定性分析及设计 总被引:1,自引:0,他引:1
研究了一类输入采用双交叠模糊分划的T-S模糊控制系统稳定性分析及控制器设计问题.基于分段模糊Lyapunov函数,提出了一个新的判定开环T-S模糊系统稳定性的充分条件,该方法只需在各个模糊区间里满足模糊Lyapunov方法中的条件,其保守性比公共Lyapunov函数法和分段Lyapunov函数法的保守性更低.运用并行分布补偿法(PDC)进一步探讨了闭环T-S模糊控制系统的稳定性分析问题并设计了模糊控制器.最后,一个仿真示例说明了本文方法的有效性. 相似文献
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This paper is devoted to stability analysis and synthesis of uncertain systems subject to input saturation. A new parameter‐dependent Lyapunov function analyzing approach is proposed to reduce the conservatism in stability analysis for the polytopic systems subject to input saturation. Some new stability conditions and a gain‐scheduling controller design method are then developed by the LMI optimization based approach. Numerical examples are used to demonstrate the effectiveness of the proposed design approach. 相似文献