發(fā)布時(shí)間：2018-01-06 19:36

  本文關(guān)鍵詞：具有未建模動(dòng)態(tài)的純反饋系統(tǒng)自適應(yīng)動(dòng)態(tài)面控制研究　出處：《揚(yáng)州大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 動(dòng)態(tài)面控制 未建模動(dòng)態(tài) 神經(jīng)網(wǎng)絡(luò)估計(jì) 輸入未建模動(dòng)態(tài) 狀態(tài)約束 障礙Lyapunov函數(shù) 輸出約束 分散自適應(yīng)動(dòng)態(tài)面控制 積分型障礙Lyapunov函數(shù)

【摘要】：實(shí)際的非線性系統(tǒng)往往存在系統(tǒng)函數(shù)未知、控制增益未知、未建模動(dòng)態(tài)等多種不確定性,其中,未建模動(dòng)態(tài)可能會(huì)破壞系統(tǒng)的穩(wěn)定性條件,易造成系統(tǒng)不穩(wěn)定,因而包含未建模動(dòng)態(tài)的不確定非線性系統(tǒng)的自適應(yīng)控制得到了人們的廣泛研究.而具有純反饋形式的非線性系統(tǒng)由于其系統(tǒng)狀態(tài)與系統(tǒng)函數(shù)不可分離,因此相對(duì)于嚴(yán)格反饋形式,對(duì)這類(lèi)系統(tǒng)的研究更為復(fù)雜.近年來(lái),關(guān)于非線性控制系統(tǒng)的設(shè)計(jì),在滿足穩(wěn)定性要求的前提下,進(jìn)一步提出了誤差約束或動(dòng)態(tài)性能指標(biāo),要求跟蹤誤差滿足常值約束或以一定的收斂率收斂到預(yù)設(shè)的小殘差集內(nèi),也就是輸出約束及預(yù)設(shè)性能控制.將這種約束施加到嚴(yán)格反饋或純反饋系統(tǒng)的可量測(cè)狀態(tài)上,則形成狀態(tài)約束問(wèn)題.對(duì)此,目前常用的解決方法是引入模型預(yù)估控制、誤差轉(zhuǎn)換、障礙Lyapunov函數(shù)等.針對(duì)這些自適應(yīng)控制熱點(diǎn)問(wèn)題,本文利用徑向基函數(shù)神經(jīng)網(wǎng)絡(luò)的逼近能力,將Lyapunov穩(wěn)定性理論、自適應(yīng)控制理論、動(dòng)態(tài)面控制、分散控制技術(shù)有機(jī)結(jié)合,對(duì)幾類(lèi)帶有未建模動(dòng)態(tài)和狀態(tài)或輸出約束的非線性系統(tǒng),分別提出了幾種自適應(yīng)控制方案,主要成果如下:第一,針對(duì)一類(lèi)具有狀態(tài)和輸入未建模動(dòng)態(tài)且控制增益符號(hào)未知的純反饋非線性系統(tǒng),利用非線性變換、改進(jìn)的動(dòng)態(tài)面控制方法和Nussbaum函數(shù)性質(zhì),提出兩種自適應(yīng)動(dòng)態(tài)面控制方案.利用正則化信號(hào)來(lái)約束輸入未建模動(dòng)態(tài),從而有效地抑制其產(chǎn)生的擾動(dòng).通過(guò)引入動(dòng)態(tài)信號(hào),有效地處理了由狀態(tài)未建模動(dòng)態(tài)引起的動(dòng)態(tài)不確定性.通過(guò)在總的Lyapunov函數(shù)中加入非負(fù)正則化信號(hào),并利用動(dòng)態(tài)面控制證明的特點(diǎn),有效地處理了控制信號(hào)的有界性.通過(guò)理論分析證明了閉環(huán)控制系統(tǒng)是半全局一致終結(jié)有界的.通過(guò)倒立擺模型及三階系統(tǒng)的數(shù)值仿真驗(yàn)證了所提方案的有效性.第二,針對(duì)一類(lèi)具有未建模動(dòng)態(tài)、輸出及狀態(tài)約束的純反饋非線性系統(tǒng),通過(guò)非線性變換將純反饋非線性系統(tǒng)轉(zhuǎn)化為形式上的嚴(yán)格反饋非線性系統(tǒng).利用改進(jìn)的動(dòng)態(tài)面控制方法,提出了一種新的自適應(yīng)控制方案.利用動(dòng)態(tài)信號(hào)處理未建模動(dòng)態(tài),在第一步及遞推的每一步引入障礙Lyapunov函數(shù)(BLF),設(shè)計(jì)相應(yīng)的虛擬控制及自適應(yīng)控制律并保證閉環(huán)系統(tǒng)有界,從而實(shí)現(xiàn)輸出及狀態(tài)約束.數(shù)值仿真驗(yàn)證了所提方案的有效性.第三,針對(duì)一類(lèi)具有狀態(tài)未建模動(dòng)態(tài)和輸出約束的非線性純反饋耦合大系統(tǒng),通過(guò)利用改進(jìn)的動(dòng)態(tài)面控制方法,提出了一種分散自適應(yīng)動(dòng)態(tài)面控制方法.在遞推設(shè)計(jì)的第一步引入了積分型障礙Lyapunov函數(shù)(iBLF),利用Young's不等式及分離定理,設(shè)計(jì)虛擬控制器.利用穩(wěn)定性分析中引入的緊集及動(dòng)態(tài)面控制中穩(wěn)定性分析的特點(diǎn),有效地處理了耦合作用項(xiàng),證明了閉環(huán)系統(tǒng)內(nèi)的信號(hào)是半全局一致終極有界且輸出信號(hào)滿足輸出約束要求.數(shù)值仿真驗(yàn)證了所提方案的有效性.
[Abstract]:A practical nonlinear system often has the system function is unknown, unknown control gain, unmodeled dynamics and other uncertainties, the stability conditions of unmodeled dynamics may damage the system, causing system instability, which contains dynamic adaptive control of uncertain nonlinear systems have been widely studied in people. With pure feedback nonlinear system due to the system state and system function can not be separated, so relative to the strict feedback form, study on this kind of system is more complex. In recent years, the design of nonlinear control system, in order to meet the stability requirements, further put forward the error constraint or dynamic performance requirements the tracking error satisfies constant constraints or with a certain convergence rate of convergence to the preset small residual set, which is the output constraints and performance control. This will be about presupposition Beam is applied to the feedback or pure feedback systems can be measured on the state strictly, forming a state constraint problem. In this regard, the common approach is the introduction of model predictive control, error conversion, barrier Lyapunov function. To solve these problems by using the adaptive control of hot spots, approximation ability of RBF neural network, the stability of Lyapunov in theory, adaptive control theory, dynamic surface control, decentralized control techniques are combined for several classes of nonlinear systems with unmodeled dynamics and state or output constraints, respectively, puts forward several adaptive control schemes, the main results are as follows: first, the pure feedback for a class of nonlinear systems with state and input unmodeled dynamics and control gain sign unknown, nonlinear transform, dynamic surface modified method and Nussbaum function control, puts forward two kinds of adaptive dynamic surface control scheme. To constrain the input unmodeled dynamics of the regularized signals, so as to effectively suppress the disturbance. By introducing dynamic signals, effectively deal with the dynamic state caused by unmodeled dynamics uncertainty. By adding a non negative regularization function of the total signal in Lyapunov, and using the dynamic surface control proved effective, to deal with the control signals are bounded. It is proved that the closed-loop system is semi globally uniformly ultimately bounded. Numerical simulation of pendulum model and three order system by inverted verify the effectiveness of the proposed scheme. In second, for a class of unmodeled dynamics, nonlinear systems in pure feedback and output state constraints, through the nonlinear transform of pure feedback nonlinear system is transformed into strict feedback nonlinear systems form. Using the improved dynamic surface control method, this paper presents a new adaptive control The use of dynamic signal processing scheme. The unmodeled dynamics in the first step and recursive every step of introducing Lyapunov function disorder (BLF), the design of virtual control and adaptive control law and ensure the boundedness of the closed loop system, so as to realize the output and state constraints. Simulation results verify the effectiveness of the proposed scheme third. For a class of nonlinear state, unmodeled dynamics and output constraints in pure feedback coupling system, by using the improved dynamic surface control method, we propose a new adaptive dynamic surface control method. The Lyapunov integral type barrier function is introduced in the first step of recursive design (iBLF), by using the Young's inequality and the separation theorem design, virtual controller. Using the characteristics of compact set and stability analysis of dynamic surface control introduced in the stability analysis, can effectively deal with the coupling effect, proved the closed-loop system in signal system It is a semi global and uniform ultimate bounded and output signal satisfies the requirement of output constraints. Numerical simulation shows the effectiveness of the proposed scheme.

【學(xué)位授予單位】：揚(yáng)州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 張?zhí)炱?陳佳勝;夏曉南;;具有輸入及狀態(tài)未建模動(dòng)態(tài)系統(tǒng)的輸出反饋?zhàn)赃m應(yīng)控制[J];控制與決策;2015年10期

2 夏曉南;張?zhí)炱?;具有動(dòng)態(tài)不確定性互聯(lián)大系統(tǒng)的分散自適應(yīng)控制[J];控制理論與應(yīng)用;2015年03期

3 吳春;齊蓉;陳曉雷;;基于障礙Lyapunov函數(shù)的輸出有界全局收斂魯棒控制[J];控制與決策;2015年03期

4 夏曉南;張?zhí)炱?朱洪斌;;具有未建模動(dòng)態(tài)耦合大系統(tǒng)的分散自適應(yīng)動(dòng)態(tài)面控制[J];系統(tǒng)科學(xué)與數(shù)學(xué);2014年07期

5 張?zhí)炱?高志遠(yuǎn);;具有動(dòng)態(tài)不確定性的自適應(yīng)動(dòng)態(tài)面控制[J];控制與決策;2013年10期

6 張?zhí)炱?施梟鋮;沈啟坤;魯瑤;;具有未建模動(dòng)態(tài)的自適應(yīng)神經(jīng)網(wǎng)絡(luò)動(dòng)態(tài)面控制[J];控制理論與應(yīng)用;2013年04期

7 毛玉青;黃云龍;;非仿射高階關(guān)聯(lián)大系統(tǒng)的分散模糊輸出反饋控制[J];模糊系統(tǒng)與數(shù)學(xué);2012年06期

8 劉樹(shù)光;孫秀霞;解武杰;董文瀚;;一類(lèi)純反饋非線性系統(tǒng)的自適應(yīng)動(dòng)態(tài)面控制[J];信息與控制;2012年03期

9 張?zhí)炱?魯瑤;;帶有未建模動(dòng)態(tài)的非線性系統(tǒng)的自適應(yīng)動(dòng)態(tài)面控制[J];控制與決策;2012年03期

10 劉樹(shù)光;孫秀霞;董文瀚;張龍軍;;一類(lèi)純反饋非線性系統(tǒng)的簡(jiǎn)化自適應(yīng)神經(jīng)網(wǎng)絡(luò)動(dòng)態(tài)面控制[J];控制與決策;2012年02期

，

本文編號(hào)：1389257