共查询到20条相似文献,搜索用时 31 毫秒
1.
This paper describes an adaptive fuzzy control strategy for decentralized control for a class of interconnected nonlinear systems with MIMO subsystems. An adaptive robust tracking control schemes based on fuzzy basis function approach is developed such that all the states and signals are bounded. In addition, each subsystem is able to adaptively compensate for disturbances and interconnections with unknown bounds. The resultant adaptive fuzzy decentralized control with multi-controller architecture guarantees stability and convergence of the output errors to zero asymptotically by local output-feedback. An extensive application example of a three-machine power system is discussed in detail to verify the effectiveness of the proposed algorithm. 相似文献
2.
Yusheng Liu Xing-Yuan Li 《Automatic Control, IEEE Transactions on》2002,47(5):848-856
The authors present a decentralized robust adaptive output feedback control scheme for a class of large-scale nonlinear systems of the output feedback canonical form with unmodeled dynamics. A modified dynamic signal is introduced for each subsystem to dominate the unmodeled dynamics and an adaptive nonlinear damping is used to counter the effects of the interconnections. It is shown that under certain assumptions, the proposed decentralized adaptive control scheme guarantees that all the signals in the closed-loop system are bounded in the presence of unmodeled dynamics, high-order interconnections and bounded disturbances. Furthermore, by choosing the design constants appropriately, the tracking error can be made arbitrarily small regardless of the interconnections, disturbances, and unmodeled dynamics in the system. An illustration example demonstrates the effectiveness of the proposed scheme 相似文献
3.
分散模型参考自适应控制 总被引:1,自引:0,他引:1
本文针对由参数未知、存在有界扰动和非线性关联的子系统组成的大规模互联系统,提出
了一种新的分散模型参考自适应控制法.它适用于孤立子系统传递函数的相对阶次n*i为任
意值的情况.根据李雅普诺夫稳定性理论,文中证明了这种分散自适应控制系统全局稳定的
充分条件.与有关文献所介绍的方法相比,本文的方法可用于n*i>2的场合,因而它更具有
一般性和实用性. 相似文献
4.
An approximation based adaptive neural decentralized output tracking control scheme for a class of large-scale unknown nonlinear systems with strict-feedback interconnected subsystems with unknown nonlinear interconnections is developed in this paper. Within this scheme, radial basis function RBF neural networks are used to approximate the unknown nonlinear functions of the subsystems. An adaptive neural controller is designed based on the recursive backstepping procedure and the minimal learning parameter technique. The proposed decentralized control scheme has the following features. First, the controller singularity problem in some of the existing adaptive control schemes with feedback linearization is avoided. Second, the numbers of adaptive parameters required for each subsystem are not more than the order of this subsystem. Lyapunov stability method is used to prove that the proposed adaptive neural control scheme guarantees that all signals in the closed-loop system are uniformly ultimately bounded, while tracking errors converge to a small neighborhood of the origin. The simulation example of a two-spring interconnected inverted pendulum is presented to verify the effectiveness of the proposed scheme. 相似文献
5.
基于Lyapunov分析方法,针对具有严格反馈形式的非线性互联系统,本文设计了一种分散式backstepping自适应迭代学习控制器.子系统之间的互联项为所有子系统输出项线性有界,为每个子系统设计的控制器仅采用该子系统的信息,不需要子系统之间相互传递信息.在控制器中,引入在时间轴和迭代轴上同时更新的自适应参数,以补偿子系统之间的互联项影响.通过采用本文给出的控制器,可使得每个子系统的输出跟踪相应的参考模型输出,仿真结果验证了本文算法的有效性. 相似文献
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7.
Within this brief paper, a stable indirect adaptive controller is presented for a class of interconnected nonlinear systems. The feedback and adaptation mechanisms for each subsystem depend only upon local measurements to provide asymptotic tracking of a reference trajectory. In addition, each subsystem is able to adaptively compensate for disturbances and interconnections with unknown bounds. The adaptive scheme is illustrated through the longitudinal control of a string of vehicles within an automated highway system (AHS) 相似文献
8.
Stable direct and indirect decentralized adaptive radial basis neural network controllers are presented for a class of interconnected nonlinear systems. The feedback and adaptation mechanisms for each subsystem depend only upon local measurements to provide asymptotic tracking of a reference trajectory. Due to the functional approximation capabilities of radial basis neural networks, the dynamics for each subsystem are not required to be linear in a set of unknown coefficients as is typically required in decentralized adaptive schemes. In addition, each subsystem is able to adaptively compensate for disturbances and interconnections with unknown bounds 相似文献
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10.
Decentralized output-feedback neural control for systems with unknown interconnections. 总被引:4,自引:0,他引:4
Weisheng Chen Junmin Li 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2008,38(1):258-266
An adaptive backstepping neural-network control approach is extended to a class of large-scale nonlinear output-feedback systems with completely unknown and mismatched interconnections. The novel contribution is to remove the common assumptions on interconnections such as matching condition, bounded by upper bounding functions. Differentiation of the interconnected signals in backstepping design is avoided by replacing the interconnected signals in neural inputs with the reference signals. Furthermore, two kinds of unknown modeling errors are handled by the adaptive technique. All the closed-loop signals are guaranteed to be semiglobally uniformly ultimately bounded, and the tracking errors are proved to converge to a small residual set around the origin. The simulation results illustrate the effectiveness of the control approach proposed in this correspondence. 相似文献
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An improved approach for stability analysis of nonlinear systems that works when traditional methods do not is proposed. The complex, possibly higher-dimensional nonlinear system is viewed as being composed of several isolated but interconnected subsystems. The proposed approach divides the complicated stability analysis job into two simpler jobs: analyzing the stability of each isolated subsystem and studying the properties of the interconnections. It is assumed that the interconnections can be bounded by a function of the norm of the state variables. This allows for more general interconnections than other approaches. Examples and computer simulations show that the approach can give results even when the problem is not tractable by other standard techniques. The method is applied to mobile robots 相似文献
13.
Decentralized adaptive control of synchronization of dynamic system networks at bounded disturbances
The problem is considered for adaptive synchronization in the output of the network of interconnected nonlinear dynamic systems with bounded disturbances. The structure of a controller and the adaptation algorithm are found with the aid of the velocity gradient method and the passification method. The sufficient conditions of synchronization and the upper bound for the convergence set relative to the leading subsystem are given. The conditions of the accessibility of synchronization are also obtained for a certain class of monotone nonlipschitz nonlinearities. The results are illustrated by an example of synchronization of the network of interconnected Chua chains with disturbances. 相似文献
14.
In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only. The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs. The resulting controller maintains global robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved 相似文献
15.
In many applications,the system dynamics allows the decomposition into lower dimensional subsystems with interconnections among them.This decomposition is motivated by the ease and flexibility of the controller design for each subsystem.In this paper,a decentralized model reference adaptive iterative learning control scheme is developed for interconnected systems with model uncertainties.The interconnections in the dynamic equations of each subsystem are considered with unknown boundaries.The proposed controller of each subsystem depends only on local state variables without any information exchange with other subsystems.The adaptive parameters are updated along iteration axis to compensate the interconnections among subsystems.It is shown that by using the proposed decentralized controller,the states of the subsystems can track the desired reference model states iteratively.Simulation results demonstrate that,utilizing the proposed adaptive controller,the tracking error for each subsystem converges along the iteration axis. 相似文献
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Decentralized backstepping output-feedback control for stochastic interconnected systems with time-varying delays using neural networks 总被引:2,自引:2,他引:0
This paper addresses the decentralized adaptive output-feedback control problem for a class of interconnected stochastic strict-feedback uncertain systems described by It $\hat{\hbox{o}}$ differential equation using neural networks. Compared with the existing literature, this paper removes the commonly used assumption that the interconnections are bounded by known functions multiplying unknown parameters, and all unknown interconnections are lumped in a suitable function which is compensated by only a neural network in each subsystem. So, the controller is simpler even than that for the strict-feedback systems described by the ordinary differential equation. Moreover, the circle criterion is applied to designing nonlinear observers for the estimates of system states. A simulation example is used to illustrate the effectiveness of control scheme proposed in this paper. 相似文献
18.
本文研究了一类关联大系统的分散自适应控制问题,拓广了分散自适应控制的应用范围,在孤立子系统(MIMO)动力学信息已知,关联强度未知的情况下,论文提出了结构相当简单的分散自适应控制策略,它可保证闭环的分散自适应控制系统具有良好的动力学行为;系统的所有信号都全局有界,进一步,在状态调节情况下,关联大系统状态趋向于零;在模型跟踪情况下,跟踪误差可以通过控制器的设计使之任意小。 相似文献
19.
Decentralized robust adaptive controller designs for large-scale interconnected systems are investigated. Motivated by real mechanical systems, the authors consider a general representation of interconnections when the strength of the interconnections is bounded by a p th-order polynomial in states. This is in contrast to other studies which have made simpler assumptions about the strength of the interconnections. The authors investigate several scenarios as the control computations become more distributed until the controllers are completely decentralized. The possible bound of the interconnections is assumed to be known for the decentralized semiadaptive controller. Without the knowledge of these bounds, two adaptive controllers are designed: a decentralized adaptive controller with partially centralized compensation and a fully adaptive decentralized controller 相似文献
20.
HGO-based decentralised indirect adaptive fuzzy control for a class of large-scale nonlinear systems
Yi-Shao Huang Xiaoxin Chen Shao-Wu Zhou Ling-Li Yu Zheng-Wu Wang 《International journal of systems science》2013,44(6):1133-1145
In this article, a novel high gain observer (HGO)-based decentralised indirect adaptive fuzzy controller is developed for a class of uncertain affine large-scale nonlinear systems. By the combination of fuzzy logic systems and an HGO, the state variables are not required to be measurable. The proposed feedback and adaptation mechanisms guarantee that each subsystem is able to adaptively compensate for interconnections and disturbances with unknown bounds. It is ascertained using a singular perturbation method that all the signals of the closed-loop large-scale system stand uniformly ultimately bounded and the tracking errors converge to tunable neighbourhoods of the origin. Simulation results of correlated double inverted pendulums substantiate the effectiveness of the proposed controller. 相似文献