發(fā)布時(shí)間：2018-08-06 21:22

【摘要】：針對(duì)控制輸入有界的變參數(shù)廣義高階非線性系統(tǒng)跟蹤控制問(wèn)題,給出一種多環(huán)遞歸跟蹤的魯棒控制方法.通過(guò)分層引入虛擬跟蹤器,將高階系統(tǒng)分解為多個(gè)獨(dú)立子系統(tǒng);內(nèi)環(huán)虛擬跟蹤器使內(nèi)環(huán)輸出指數(shù)收斂于外環(huán)虛擬輸入,最內(nèi)環(huán)設(shè)計(jì)自適應(yīng)控制器補(bǔ)償參數(shù)攝動(dòng)和外部干擾,并保證輸出指數(shù)收斂于外環(huán)虛擬輸入;多環(huán)遞歸跟蹤實(shí)現(xiàn)系統(tǒng)輸出精確跟蹤期望輸入,理論證明閉環(huán)系統(tǒng)的全局漸近收斂性.數(shù)值仿真驗(yàn)證了多環(huán)跟蹤控制器的可行性和合理性.
[Abstract]:In this paper, a robust control method for multi-loop recursive tracking is proposed for the tracking control problem of variable parameter singular high-order nonlinear systems with bounded control inputs. By introducing virtual tracker into layers, the high-order system is decomposed into several independent subsystems, the inner loop virtual tracker converges exponentially to the outer loop virtual input, and the inner loop design adaptive controller compensates for parameter perturbation and external disturbance. The output exponent converges to the virtual input of the outer loop, and the multi-loop recursive tracking realizes the accurate tracking of the desired input. The global asymptotic convergence of the closed-loop system is proved theoretically. The feasibility and rationality of the multi-loop tracking controller are verified by numerical simulation.
【作者單位】： 西安建筑科技大學(xué)信息與控制工程學(xué)院;西北工業(yè)大學(xué)自動(dòng)化學(xué)院;
【基金】：西安建筑科技大學(xué)青年基金項(xiàng)目(QN1727);西安建筑科技大學(xué)人才基金項(xiàng)目(6040317017)
【分類號(hào)】：O231
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本文編號(hào)：2169028