本文選題：自適應(yīng)控制 + 動(dòng)態(tài)面控制　； 參考：《揚(yáng)州大學(xué)》2017年碩士論文

【摘要】：在許多實(shí)際非線性系統(tǒng)中,未建模動(dòng)態(tài)的存在嚴(yán)重降低了閉環(huán)系統(tǒng)的性能,甚至?xí)斐上到y(tǒng)的不穩(wěn)定.實(shí)現(xiàn)對(duì)未建模動(dòng)態(tài)影響的抵消和抑制是提高系統(tǒng)控制性能的關(guān)鍵.此外,為了確保系統(tǒng)的高性能和安全性,實(shí)際控制系統(tǒng)通常會(huì)對(duì)其輸出和狀態(tài)變量進(jìn)行約束.在實(shí)際操作中,如果違反約束條件,將會(huì)導(dǎo)致系統(tǒng)性能下降甚至是系統(tǒng)損毀.目前對(duì)無(wú)約束系統(tǒng)的研究已經(jīng)非常成熟,但各種約束的存在使得無(wú)約束系統(tǒng)控制方法不能很好地應(yīng)用到有約束系統(tǒng)中,這就使得對(duì)有約束系統(tǒng)的深入研究變得非常必要.本文針對(duì)幾類(lèi)具有未建模動(dòng)態(tài)和輸出約束的非線性系統(tǒng),分別基于障礙Lyapunov函數(shù)(BLF)、積分型障礙Lyapunov函數(shù)(iBLF)和非線性映射(NM),提出了四種自適應(yīng)動(dòng)態(tài)面控制方案.現(xiàn)將論文的主要內(nèi)容總結(jié)如下:第一,基于未建模子系統(tǒng)是指數(shù)輸入狀態(tài)實(shí)際穩(wěn)定的假設(shè),針對(duì)一類(lèi)具有狀態(tài)未建模動(dòng)態(tài)和對(duì)稱輸出約束的非線性系統(tǒng),通過(guò)引入BLF,提出了一種自適應(yīng)動(dòng)態(tài)面輸出反饋控制方案.利用徑向基函數(shù)神經(jīng)網(wǎng)絡(luò)(RBF NNs)逼近未知非線性函數(shù).利用K濾波器將復(fù)雜的非線性系統(tǒng)轉(zhuǎn)變?yōu)榈碗A子系統(tǒng).引入一個(gè)可量測(cè)的動(dòng)態(tài)信號(hào)來(lái)抵消未建模動(dòng)態(tài)對(duì)系統(tǒng)的影響.通過(guò)保證BLF有界,達(dá)到限制系統(tǒng)輸出的目的.通過(guò)理論分析證明了閉環(huán)系統(tǒng)的所有信號(hào)是半全局一致終結(jié)有界的且系統(tǒng)輸出滿足約束條件.最后,利用一個(gè)數(shù)值仿真算例進(jìn)一步驗(yàn)證了所提控制方案的有效性.第二,針對(duì)一類(lèi)具有狀態(tài)未建模動(dòng)態(tài)和對(duì)稱輸出約束的非線性系統(tǒng),通過(guò)引入iBLF,提出了一種自適應(yīng)動(dòng)態(tài)面輸出反饋控制方案.為了降低K濾波器的階數(shù)和相應(yīng)向量參數(shù)的維數(shù),避免直接利用RBF NNs估計(jì)系統(tǒng)未知非線性函數(shù).通過(guò)直接對(duì)系統(tǒng)的輸出進(jìn)行約束,放寬了確保約束滿足的初始條件.為了降低控制器設(shè)計(jì)的復(fù)雜性,采用動(dòng)態(tài)面控制方法進(jìn)行控制器設(shè)計(jì),同時(shí)通過(guò)構(gòu)造適當(dāng)?shù)奈粗B續(xù)函數(shù),在穩(wěn)定性分析中,有效地處理了由神經(jīng)網(wǎng)絡(luò)逼近和未建模動(dòng)態(tài)所產(chǎn)生的誤差項(xiàng).通過(guò)理論分析證明了閉環(huán)系統(tǒng)的所有信號(hào)是半全局一致終結(jié)有界的且系統(tǒng)輸出滿足約束條件.最后,利用兩個(gè)數(shù)值仿真算例進(jìn)一步驗(yàn)證了所提控制方案的有效性.第三,基于未建模子系統(tǒng)是全局指數(shù)穩(wěn)定的假設(shè),針對(duì)一類(lèi)具有狀態(tài)未建模動(dòng)態(tài)和非對(duì)稱輸出約束的非線性系統(tǒng),通過(guò)引入NM,提出了一種自適應(yīng)動(dòng)態(tài)面輸出反饋控制方案.基于假設(shè)未建模子系統(tǒng)是全局指數(shù)穩(wěn)定的,利用Lyapunov函數(shù)描述未建模動(dòng)態(tài).通過(guò)引入K濾波器和NM,將具有輸出約束的復(fù)雜非線性系統(tǒng)轉(zhuǎn)換為無(wú)約束的低階系統(tǒng).通過(guò)理論分析證明閉環(huán)系統(tǒng)的所有信號(hào)是半全局一.致終結(jié)有界的且系統(tǒng)輸出滿足約束條件.最后,利用兩個(gè)數(shù)值仿真算例進(jìn)一步了驗(yàn)證所提控制方案的有效性.第四,將NM方法進(jìn)一步應(yīng)用到一類(lèi)具有輸出約束的嚴(yán)格反饋非線性系統(tǒng)中,并同時(shí)考慮了輸入未建模動(dòng)態(tài)對(duì)系統(tǒng)的影響.通過(guò)理論分析證明閉環(huán)系統(tǒng)的所有信號(hào)是半全局一致終結(jié)有界的且系統(tǒng)輸出滿足約束條件.最后,利用兩個(gè)數(shù)值仿真算例進(jìn)一步了驗(yàn)證所提控制方案的有效性.
[Abstract]:In many practical nonlinear systems, the existence of unmodeled dynamics seriously reduces the performance of the closed loop system and even causes the instability of the system. It is the key to improve the performance of the system to achieve the cancellation and suppression of the unmodeled dynamics. In addition, in order to ensure the high energy and security of the system, the actual control system will usually do it The output and the state variables are constrained. In the actual operation, if the constraints are violated, the system performance will be reduced or even the system damage. At present, the research on the unconstrained system is very mature, but the existence of various constraints makes the unconstrained system control methods not well applied to the constrained system, which makes the system a In this paper, four nonlinear systems with unmodeled dynamics and output constraints are proposed, which are based on the obstacle Lyapunov function (BLF), the integral barrier Lyapunov function (iBLF) and the nonlinear mapping (NM), respectively. The main contents of the paper are summarized. Firstly, based on the assumption that the unbuilt model system is the actual stability of the exponential input state, an adaptive dynamic surface output feedback control scheme is proposed for a class of nonlinear systems with state unmodeled dynamics and symmetric output constraints. A new adaptive dynamic surface output feedback control scheme is proposed by using the radial basis function neural network (RBF NNs) to approximate the unknown nonlinearity. A K filter is used to transform the complex nonlinear system into a lower order subsystem. A measurable dynamic signal is introduced to counteract the influence of the unmodeled dynamics to the system. By guaranteeing the bounds of the BLF, the purpose of limiting the output of the system is achieved. And the system output satisfies the constraints. Finally, a numerical simulation example is used to further verify the effectiveness of the proposed control scheme. Second, for a class of nonlinear systems with state unmodeled dynamics and symmetric output constraints, an adaptive dynamic surface output feedback control scheme is proposed by introducing iBLF. In order to reduce the K filter. The order of the wave device and the dimension of the corresponding vector parameters avoid directly using the RBF NNs to estimate the unknown nonlinear function of the system. By restricting the output of the system directly, the initial conditions are relaxed to ensure the constraint satisfaction. In order to reduce the complexity of the controller design, the dynamic surface control method is used to design the controller, and the structure is constructed at the same time. In the stability analysis, an appropriate unknown continuous function is used to effectively deal with the error term produced by the neural network approximation and the unmodeled dynamics. Through theoretical analysis, it is proved that all the signals of the closed loop system are semi globally uniformly terminated and bounded and the system output satisfies the constraints. Finally, the two numerical simulation examples are further verified. The effectiveness of the proposed control scheme is demonstrated. Third, based on the assumption that the unbuilt model system is a global exponential stability, a adaptive dynamic surface output feedback control scheme is proposed for a class of nonlinear systems with state unmodeled dynamic and asymmetric output constraints. Based on the assumption that the unbuilt model system is a global index, it is assumed that the unbuilt model system is a global index. Third Stable, using the Lyapunov function to describe the unmodeled dynamics. By introducing the K filter and NM, the complex nonlinear systems with output constraints are converted into unconstrained lower order systems. Through theoretical analysis, all the signals of the closed loop system are semi global one. The end bounded and the system output satisfies the constraints. Finally, two uses are used. The numerical simulation example further proves the effectiveness of the proposed control scheme. Fourth, the NM method is further applied to a class of strictly feedback nonlinear systems with output constraints, and the influence of the input unmodeled dynamics on the system is considered. Finally, two numerical examples are used to verify the effectiveness of the proposed control 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

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本文編號(hào)：1987251