| 基于未知Prandtl-Ishlinskii回滞的一类不确定非线性系统自适应逆控制 |
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| 引用本文： | 李致富,袁鹏,胡跃明.基于未知Prandtl-Ishlinskii回滞的一类不确定非线性系统自适应逆控制[J].控制理论与应用,2012,29(6):723-729. |
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| 作者姓名： | 李致富 袁鹏 胡跃明 |
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| 作者单位： | 华南理工大学自动化科学与工程学院,精密电子制造装备教育部工程研究中心,广东,广州,510640 |
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| 基金项目： | 国家自然科学基金资助项目(60835001, 61040011); 华南理工大学中央高校基本科研业务费资助项目(2009ZZ0056). |
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| 摘 要： | 针对带有回滞驱动的一类不确定非线性系统,通过把Prandtl-Ishhnskii模型分解为一个离散的Prandtl-Ishlinskii算子和一个小的有界误差项,采用反步递推的设计方法,实现自适应逆控制器的设计.所设计的自适应逆控制器能保证闭环系统全局稳定.仿真结果进一步证明该控制方法的有效性.
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| 关 键 词： | 回滞 自适应逆 反步法 非线性系统 |
| 收稿时间： | 2011/7/10 0:00:00 |
| 修稿时间： | 2011/11/2 0:00:00 |
Adaptive inverse control of a class of uncertain nonlinear systems with unknown Prandtl-Ishlinskii hysteresis |
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| LI Zhi-fu,YUAN Peng and HU Yue-ming.Adaptive inverse control of a class of uncertain nonlinear systems with unknown Prandtl-Ishlinskii hysteresis[J].Control Theory & Applications,2012,29(6):723-729. |
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| Authors: | LI Zhi-fu YUAN Peng and HU Yue-ming |
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| Affiliation: | Ministry of Education Engineering Research Center of Precise Electronic Manufacturing Equipments; College of Automation Science and Technology, South China University of Technology,Ministry of Education Engineering Research Center of Precise Electronic Manufacturing Equipments; College of Automation Science and Technology, South China University of Technology,Ministry of Education Engineering Research Center of Precise Electronic Manufacturing Equipments; College of Automation Science and Technology, South China University of Technology |
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| Abstract: | Employing the backstepping technique, an adaptive inverse controller is designed for a class of uncertain dynamic nonlinear systems preceded by an unknown Prandtl-Ishlinskii hysteresis. Decomposing the Prandtl-Ishlinskii model into a discrete Prandtl-Ishlinskii operator and a small term of bounded error, we developed an adaptive inverse control algorithm. The designed controller ensures that the closed-loop system for global stability. Finally, the effectiveness of the proposed scheme is demonstrated through a simulation example. |
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| Keywords: | hysteresis adaptive inverse backstepping nonlinear system |
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