一类非线性系统输出反馈自适应扰动抑制

研究了一类依赖于不可量测状态增长非线性系统的输出反馈自适应扰动抑制问题. 与现有文献不同, 所研究的系统具有更多的未知参数, 尤其是不确定控制系数. 为了解决该 问题, 引入了动态高增益K-滤波器, 进而构造了基于K-滤波器的状态观测器. 在输出反馈控制器的设计过程中, 引入了待定设计参数, 增加了设计的自由度. 结果表明, K-滤 波器的动态增益和设计参数的恰当选择可以保证闭环系统的全局稳定性, 从而实现系统 L2-增益意义的扰动抑制.     

光电跟踪伺服系统的二重抑制扰动方法

为提高运动载体上光电跟踪伺服系统的抑制扰动能力,在反馈型扰动观测器基础上提出二重抑制扰动方法。研究了二重抑制扰动的回路结构、输入输出关系以及执行机构饱和情况下的回路输出特性。应用于光电跟踪伺服系统,可提高载体运动情况下的视轴稳定精度。仿真结果表明,在载体做4°/s,频率12rad/s的正弦信号运动情况下视轴稳定精度小于0.02°,比反馈型扰动观测器提高1倍。     

一类带有自适应的H∞状态反馈控制

H∞控制做为一种已经相当成熟的理论,已经有了系统的解决方案,从Riccati方法到LMI方法.我们都可以通过Matlab工具箱方便的求得H∞控制器.注意到：这些方法得到的控制器增益都是定常的,这样的控制器虽然在工程实践中易于实现,但是就H∞控制的出发点,即干扰抑制问题本身而言,定常增益的控制器却不是必须的,本文提出了一种在原有的定常控制器基础上加入自适应项的控制器结构,经过理论分析,得出这样的控制器可以使得闭环系统具有更为优越的干扰抑制性能,文中同时给出了一个数值例子来显示该方法的有效性和优越之处.     

一类具有非三角结构的不确定非线性系统的自适应扰动抑制

研究一类不确定非线性系统的自适应扰动抑制问题.借助自适应技术与连续占优方法,所提出的控制策略能够处理多种不确定性的严重耦合,这些不确定性包括未知非线性参数、外部扰动和具有未知下界的时变控制系数.自适应状态反馈控制器是一维的,且其性能可以借助于$L_2-L_{2p     

随机Marino-Tomei系统的输出反馈鲁棒自适应跟踪

研究了一类Marino-Tomei非线性模型在不确定噪声干扰下的输出反馈鲁棒自适应跟踪问题.通过滤波变换,采用随机控制Lyapunov设计方法,对于受方差未知的Wiener噪声干扰的Marino-Tomei非线性系统,给出了参数自适应律和控制律,使得闭环系统成为噪声--状态稳定的,并且跟踪误差的4次均方值在时间平均意义下收敛到一个足够小的区域内.     

一类非线性跟踪系统的自适应控制及神经网络的设计方法

本文针对一类非线性系统，给出了非线性不同情况下此类非线性连续时间自适应控制方案及神经网络控制方案，由于在这种方案中控制法律的选择都是基于Ｌｙａｐｕｎｏｖ稳定性理论，都能够解决这类非线性系统的跟踪问题，并使整个环控制系统具有渐近稳定和参数渐近收敛特性，克服了许多神经网络控制系统中存在的稳定性问题，文中最后对两各发进行讨论及仿真。     

基于神经网络的一类非线性系统自适应跟踪控制

提出一种非线性系统的自适应神经跟踪控制方案。通过利用RBF神经网络对未知非线性系统建模,并用一个滑模控制项消除网络建模误差和外部干扰的影响,从而能够保证闭环系统的全局稳定性和输出跟踪误差渐近收敛于零。     

具有不确定噪声的随机非线性系统的鲁棒自适应跟踪

研究了一类随机非线性系统的鲁棒自适应跟踪问题.文中利用随机控制Lyapunov设计方法,对于受方差不确定Wiener噪声干扰的参数严格反馈形式的系统,给出了参数自适应律和控制律,使得跟踪误差在4次均方意义下收敛到一个小范围内.     

一类抑制扰动的H∞状态反馈非线性控制器设计

研究了一类状态可测仿射非线性系统的扰动抑制问题,针对局部渐近稳定的非线性系统受到未知有界的周期性扰动,以H∞状态反馈标准控制方法为基础,给出这类问题的设计方法,得到了控制器的参数化描述。     

一类时变系统鲁棒自适应状态反馈控制的稳定性分析

针对一类离散线性时变参数系统,给出了一种自适应状态反馈控制器,系统的时变参数是已知有界实函数和未知常数的线性组合,该控制器由带有死区的最小二乘辨识算法,状态反馈控制算法和状态观测器构成,文中详细地分析了闭环系统在有界外部干扰和小未建模不确定性影响下的全局稳定性和鲁棒性。     

Adaptive Control of Piecewise Linear Systems with State Feedback for Output Tracking

A piecewise linear system consists of a set of linear time‐invariant (LTI) subsystems, with a switching sequence specifying an active subsystem at each time instant. This paper studies the adaptive control problem of single‐input, single‐output (SISO) piecewise linear systems. By employing the knowledge of the time instant indicator functions of system parameter switches, a new controller structure parametrization is proposed for the development of a stable adaptive control scheme with reduced modeling error in the estimation error signal used for parameter adaptive laws. This key feature is achieved by the new control scheme's ability to avoid a major parameter swapping term in the error model, with the help of indicator functions whose knowledge is available in many applications. A direct state feedback model reference adaptive control (MRAC) scheme is presented for such systems to achieve closed‐loop signal boundedness and small output tracking error in the mean square sense, under the usual slow system parameter switching condition. Simulation results on linearized NASA GTM models are presented to demonstrate the effectiveness of the proposed scheme.     

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

In this paper, a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. It is of two-degree-of-freedom nature. Specifically, a robust distributed controller is designed for consensus tracking, while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances. The condition for asymptotic di...     

Disturbance Rejection Control for a Vibrating String System

This paper is concerned with disturbance rejection control for a vibrating flexible string system in the presence of unknown disturbances. First, the boundary disturbance observer is proposed to deal with the boundary disturbance and the infinite dimensional disturbance observer is introduced to mitigate the effects of the distributed disturbance. Subsequently, the boundary control and distributed control are developed to suppress the vibration and globally stabilize the string system at its equilibrium position. Under the control proposed, the uniformly bounded stability of the controlled system is testified employing rigorous analysis without resorting to discretization of the partial differential equation dynamics depending on the time and space. Finally, the simulation and comparison results verify the performance of the derived control.     

线性系统的动态输出反馈最优扰动抑制

首先通过求解Riccati方程和Sylvester方程,推导出前馈反馈最优扰动抑制控制律．然后构建了能同时预估状态和扰动的降维观测器,解决了前馈控制的物理不可实现问题．进而结合降维观测器和前馈反馈最优控制律,提出了一种动态输出反馈扰动抑制控制器的设计算法．最后通过仿真实例表明本文提出的控制算法的可行性．     

Adaptive Harmonic Steady‐State Disturbance Rejection with Frequency Tracking

This paper is concerned with the rejection of sinusoidal disturbances of unknown frequency acting at the output of unknown plants. Disturbance rejection is based on an adaptive harmonic steady‐state (ADHSS) algorithm combined with a magnitude/phase locked‐loop (MPLL) frequency estimator. The harmonic steady‐state method assumes that the plant can be approximated by its steady‐state frequency response. For high‐order plants such as those encountered in active noise and vibration control (ANVC), this assumption greatly reduces the number of parameters and enables online estimation of the plant response using simple algorithms. The paper shows that when the MPLL is integrated with the ADHSS algorithm, the two components work together in such a way that the control input does not prevent frequency tracking by the MPLL, and so that the order of the ADHSS can be reduced. Thus, the addition of the MPLL allows disturbances of unknown frequency to be considered without significantly increasing the complexity of the original ADHSS. After analyzing the reduced‐order ADHSS in the ideal case, the equations describing the complete system are considered. The theory of averaging is used to gain insight into the steady‐state behavior of the algorithm. It is found that the system has a two‐dimensional equilibrium surface such that the disturbance is cancelled exactly. A subset of the surface is proved to be locally stable. Extensive active noise control experiments demonstrate the performance of the algorithm, even when disturbance and plant parameters are changing.     

车载惯性平台随动系统的自抗扰控制

针对车载惯性随动平台的扰动特性,提出了随动伺服回路的自抗扰控制算法。该方法不需要精确的系统数学模型,具有强鲁棒性、快速性、高精度、方法简单等特点。仿真和实验结果表明,该方法调转时间短,抗干扰能力强,是一种应用在实际平台系统中的理想的控制器。     

带有界扰动的一类非线性系统的鲁棒控制

对带有界扰动的一类非线性系统进行了状态反馈控制设计. 当状态反馈控制律作用于该系统时, 系统的状态能够收敛到原点的一个小邻域内.     

异构集群系统分布式自适应输出时变编队跟踪控制

提出了一种能够解决高阶异构集群系统输出时变编队跟踪问题的控制方法. 集群系统中的智能体分为领导者和跟随者, 领导者和跟随者的动力学模型可以完全不同. 跟随者的输出在跟踪领导者输出的同时保持时变编队实现协同运动. 考虑了领导者存在已知或未知控制输入、领导者和跟随者均存在未知扰动、有向通信拓扑存在切换等多种因素并存的情况, 结合观测器理论、自适应控制理论和滑模控制理论设计了完全分布式的输出时变编队跟踪控制协议, 摆脱了对领导者控制输入上界值、与通信拓扑相关的拉普拉斯矩阵的特征值以及时变编队函数等全局信息的依赖. 利用Lyapunov理论证明了在有向拓扑切换条件下异构集群系统的闭环稳定性. 最后通过数值仿真对理论结果的有效性进行了验证.