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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:3,自引:0,他引:3
针对一类输入带有一定的不确定性的非线性系统 ,设计了一种鲁棒自适应控制器。该控制器作用与系统 ,能保证闭环系统信号的全局有界性 ,又能使闭环系统输出任意小。 相似文献
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针对伪线性系统的模型参考输出跟踪问题,设计伪线性系统的模型参考跟踪策略.控制器分为两部分,其一为反馈镇定控制器,保证闭环系统是渐近稳定的;另一为前馈补偿控制器,通过求解基于控制器存在条件建立的方程组得到控制器的参量矩阵,使得闭环系统的输出渐近跟踪参考系统的输出,且当系统中存在时变系数时方法仍是有效的,控制器中保有部分自由度可以进一步利用,以提高具体控制任务所需的系统性能.数值仿真验证了所提出方法的有效性. 相似文献
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为了保证具有不确定非线性的PM同步伺服电机驱动系统的稳定性,确保闭环系统的输出准确跟踪期望输出并减少不确定项对该驱动系统的影响,利用Lyapunov稳定性理论,设计了一种基于反馈线性化的鲁棒跟踪控制器,并作了相应的仿真研究。仿真结果表明,该控制器不仅确保闭环系统的输出按指数规律跟踪期望输出,而且保证闭环系统状态的一致最终有界。该控制器设计简单,易于实现,具有很好的实用性。 相似文献
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研究线性不确定系统基于输出反馈的鲁棒容错控制问题.基于连续型执行器故障模式,利用线性矩阵不等式LMI,给出了系统基于输出反馈的鲁棒容错D-稳定的充分条件,并把控制器的设计方法归结为求解一族线性矩阵不等式组.与常规的方法相比,给出的控制器不仅保证闭环系统对执行器故障具有完整性,并且使闭环系统的极点配置在指定区域D中.通过仿真示例表明,无论执行器发生故障与否,得到的基于输出反馈的鲁棒容错控制器均保证闭环系统是D-稳定的,从而验证了所提出设计方法的有效性. 相似文献
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针对Buck三电平变换器飞跨电容电压闭环与输出电压闭环相互耦合的问题,利用解耦控制技术分别独立地设计控制器对两个闭环进行控制。其中,为了降低对参数变化和负载扰动的敏感性,设计基于PWM的滑模变结构控制器对输出电压进行控制。仿真试验结果表明,与传统PWM控制器相比,该方法在保持对飞跨电容电压进行有效控制的同时能减小输出电压的超调量,缩短调节时间。 相似文献
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基于LMI理论,给出了线性连续时不变系统具有极点约束的输出反馈完整性控制器存在的充分条件,并在此基础上提出一种输出反馈完整性控制器的设计方法。使得当传感器或执行器发生故障时。闭环系统渐近稳定,且闭环极点位于左半复平面的指定区域。数值示例说明了该方法的有效性。 相似文献
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Yao Yu Na Li Liang Sun Jian Liu Changyin Sun 《International Journal of Control, Automation and Systems》2020,18(2):282-292
In this paper, the output feedback consensus problem of high-order multi-agent systems with nonlinear uncertainties is researched by the robust control method. By the dimensional extension of the observation matrix, the consensus control problem is transformed into a stability problem. Then the robust controller is designed by combining the nominal controller and the robust compensator. The nominal controller can obtain desired nominal performance based on the output informations. The robust compensator, which relys on robust signal compensation technology, is order to suppress the nonlinear uncertainties. According to the proposed method, output consensus error can be guaranteed as small as desired. Finally, simulation results are given to illustrate the effectiveness of this control method. 相似文献
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This article is concerned with operator-based robust control for nonlinear feedback system with unknown perturbations with simplified robust right coprime factorisation method. By the designed simplified robust controllers, the Bezout identity for the nominal nonlinear system and the perturbed nonlinear system are guaranteed to be simply satisfied, which means that not only the nonlinear system with nominal plant but also that with perturbed plant can be stabilised. Moreover, the plant output can be guaranteed to asymptotically track the reference output. The effectiveness of the proposed design scheme is verified by the simulation results. 相似文献
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A gradient flow approach to on-line robust pole assignment for synthesizing output feedback control systems 总被引:1,自引:0,他引:1
Sanqing HuAuthor VitaeJun WangAuthor Vitae 《Automatica》2002,38(11):1959-1968
Pole assignment is a basic design method for synthesis of feedback control systems. In this paper, a gradient flow approach is presented for robust pole assignment in synthesizing output feedback control systems. The proposed approach is shown to be capable of synthesizing linear output feedback control systems via on-line robust pole assignment. Convergence of the gradient flow can be guaranteed. Moreover, with appropriate design parameters the gradient flow converges exponentially to an optimal solution to the robust pole assignment problem and the closed-loop control system based on the gradient flow is globally exponentially stable. These desired properties make it possible to apply the proposed approach to slowly time-varying linear control systems. Simulation results are shown to demonstrate the effectiveness and advantages of the proposed approach. 相似文献
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Michael J. Messina Author Vitae Author Vitae Andrew R. Teel Author Vitae 《Automatica》2005,41(4):617-628
We present certainty equivalence output feedback results for discrete-time nonlinear systems that employ possibly discontinuous control laws in the feedback loop. Coupling assumptions of nominal robustness with uniform observability or detectability assumptions, we assert nominally robust stability for output feedback closed loops. We further show that model predictive control (MPC) can be used to generate a feedback control law that is robustly globally asymptotically stabilizing when used in a certainty equivalence output feedback closed loop. Allowing for discontinuous feedback control laws is important for systems employing MPC, since the method can, and sometimes necessarily does, result in discontinuous control laws. 相似文献
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完整性是容错控制的一个重要研究方向,不确定系统的鲁棒完整性研究具有很强的实际意义.本文基于[0,σ]故障模型和线性矩阵不等式(LMI)方法,提出了参数不确定系统的输出反馈鲁棒完整性控制器存在的充分条件,通过求解两个矩阵不等式获得控制器,使闭环系统在传感器发生故障时仍然保持二次稳定,并对参数不确定性具有鲁棒性.数值示例说明了该方法的有效性. 相似文献
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A new control design method based on signal compensation is proposed for a class of uncertain multi‐input multi‐output (MIMO) nonlinear systems in block‐triangular form with nonlinear uncertainties, unknown virtual control coefficients, strongly coupled interconnections, time‐varying delays, and external disturbances. By this method, the controller design is performed in a backstepping manner. At each step of backstepping procedure, a nominal virtual controller is first designed to get desired output tracking for the nominal disturbance‐free subsystem, and then a robust virtual compensator is designed to restrain the effect of the uncertainties, delays involved in the subsystem, and the couplings among the subsystems. The designed controller is linear and time‐invariant, so the explosion of complexity in the control law is avoid. It is proved that robust stability and robust practical tracking property of the closed‐loop system can be ensured, and the tracking errors can be made as small as desired. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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Yuki Hashimoto 《International journal of control》2013,86(5):411-417
The problem of robust output tracking for a class of uncertain nonlinear systems which do not satisfy the conventional matching condition is considered. The main assumption on the uncertainty is that the triangularity condition is satisfied. Based on backstepping method and input/output linearization approach, we propose a class of non-adaptive state feedback controllers which can guarantee exponential stability of the tracking error for the uncertain nonlinear systems first. Next, adaptive control laws are developed so that no prior knowledge of the bounds on the uncertainties is required. By updating these upper bounds, we design a class of adaptive robust controllers. It is shown that under the proposed adaptive robust control the tracking error of the controlled system converges to zero as time approaches infinity. 相似文献
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Based on the method of inequalities and H ∞-optimization method, this paper develops an approach to robust control design of multivariable critical systems with external and internal uncertainties. In this approach the formulation of the robust control design of these systems is expressed by a set of inequalities which includes output performance criteria in the time domain and a robust performance criterion in the frequency domain of the system. Some relationships between an input space, a modelling error space, a controller, output performance and robust performance are established by inequalities for SISO and MIMO critical systems so that the robust control design problem of these systems is largely simplified. 相似文献