共查询到20条相似文献，搜索用时 15 毫秒
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针对一类具有饱和非线性输入的混沌系统,基于RBF神经网络的逼近能力提出一种控制方案。该方法利用自适应控制和鲁棒控制,使系统可在模型函数和外扰未知下,设计出结构简单有效的控制器,有效消除了现实中由于饱和非线性输入的存在而引起的控制器抖动的不良控制效果。仿真结果表明了所提控制方法的可行性。 相似文献
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研究了一个新自治混沌系统的控制问题.当该混沌系统的参数未知时,基于Lyapunov稳定性理论,利用自适应控制策略,设计了相应的非线性控制器和参数自适应律将混沌系统的轨道控制到其任意一个平衡点,并借助Barbalat引理,从理论上证明保证了混沌控制的渐近稳定性.Matlab数值仿真结果表明了所选择的控制器和参数自适应律能有效地实现混沌控制. 相似文献
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讨论一类带有线性未知参数的非线性互联系统的自适应跟踪控制问题．基于线性系统的输入－输出线性化理论,设计了直接自适应控制方案来实现有界的跟踪．提出的方案对关联结构和子系统中的不确定均具有鲁棒性．一个数值例子说明了所得结果的可用性． 相似文献
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ＩＮＴＲＯＤＵＣＴＩＯＮＣｏｎｓｉｄｅｒａｂｌｅａｔｔｅｎｔｉｏｎｈａｓｂｅｅｎｆｏｃｕｓｅｄｏｎｔｈｅｃｏｎｔｒｏｌｐｒｏｂｌｅｍｏｆｕｎｃｅｒｔａｉｎｄｙｎａｍｉｃａｌｎｏｎ ｌｉｎｅａｒｓｙｓｔｅｍｓｓｕｂｊｅｃｔｔｏｅｘｔｅｒｎａｌｄｉｓｔｕｒｂａ 相似文献
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An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks (NNs).The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function,so the stability can be guaranteed even under the input saturation.The proposed control law is robust against the disturbance,and it can also eliminate the impact of input saturation.Simulation results indicate that the proposed controller has a good performance. 相似文献
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This paper presents a nonlinear robust control design method for a generic rotorcraft unmanned aerial vehicle（RUAV）. The control objective is to let the RUAV track some pre-defined time-varying position and headingtrajectories. The proposed controller employs feedback linearization process to realize the dynamic decoupling controland applies adaptive sliding mode control to compensate for the parametric uncertainties and external disturbances.The global asymptotical stability is proved via stability analysis. Compared with the cascaded controller, the proposedcontroller demonstrates a superior tracking performance and robustness through numerical simulation in the presenceof parametric uncertainties and unknown disturbances. 相似文献
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利用自适应控制的方法，给出了一个新混沌系统的同步控制器和参数自适应律，使两个恒等系统达到了自适应同步同时识别未知参数．该控制器设计简单，易于实现，数值仿真表明所提方法具有效性． 相似文献
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An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order
nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal
sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the
state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error
then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown
parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects
of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with
the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.
Project supported by the National Outstanding Youth Science Foundation of China (NSFC:69725005) and the Zhejiang, Provincial
Natural Science Key Foundation of China (ZD9905) 相似文献
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一类非线性系统的自适应模糊滑模控制 总被引：2，自引：0，他引：2
针对一类不确定非线性系统提出了一种自适应模糊控制方法。该方法用模糊逻辑系统(FLS)逼近理想控制器；用滑模补偿控制器(SMCC)全局补偿逼近误差和系统的不确定性并消除外部干扰的影响，能够保证闭环系统全局渐近稳定，跟踪误差收敛到原点的邻域内。在闭环系统的稳定性分析中取消了文[1-4]中要求的逼近误差平方可积的条件。 相似文献
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针对传统滑模变结构控制器（SMC）的抖振现象,提出了一种模糊自适应滑模控制方法．该方法采用模糊逻辑系统来逼近传统SMC中不连续的控制信号,以削弱其由于不连续切换引起的抖振．另外,为了补偿实际应用中系统的不确定性,给出了相应的自适应算法,以调节模糊系统的参数,并给出了算法的Lyapunov稳定性证明．最后,通过对一个感应电机位置控制的数值仿真计算,验证了方法的有效性． 相似文献
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ZHU Xiao-cong TAO Guo-liang CAO Jian 《浙江大学学报(A卷英文版)》2007,8(12):1928-1937
This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances. 相似文献
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INTRODUCTIONChaoticmotionisacomplexnonlinearmo tion ,whoseorbitstrajectoryinthephaseplaneisverycomplexbutnotstochastic.Chaosplaysanimportantroleindynamicalsystemsandisap pliedinmanyfieldssuchasphysics ,chemistry,economics,andsoon (Heetal.,2 0 0 2 ;Tongeta… 相似文献
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针对一类关联项的上界是高阶多项式的关联大系统,设计了一种新的分散自适应模糊控制方法。该方法无须假设未知增益函数与子系统的最后一个分量无关,并且取消了未知增益导函数有界的前提假设,各个子系统仅根据自己的信息就能确定相应的控制量,真正实现了分散控制。基于Lyapunov稳定理论,分析证明了闭环系统一致终结有界,跟踪误差渐近收敛到零。仿真结果表明了所设计方法的有效性。 相似文献
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一类不确定非线性广义时滞系统的鲁棒控制与保性能控制 总被引：1，自引：0，他引：1
研究了不确定非线性结构扰动的广义系统的鲁棒控制和保性能控制问题．目的是分别设计系统的鲁棒控制器和保性能控制器。应用线性矩阵不等式方法,分别给出了系统的鲁棒控制器和保性能控制器存在的充分条件;并在这些条件可解时,分别给出了鲁棒控制器和保性能控制器的表达式。最后用例子说明了所给方法的应用． 相似文献
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The new chaos control method presented in this paper is useful for taking advantage of chaos. Based on sliding mode control
theory, this paper provides a switching manifold controlling strategy of chaotic system, and also gives a kind of adaptive
parameters estimated method to estimate the unknown systems' parameters by which chaotic dynamical system can be synchronized.
Taking the Lorenz system as example, and with the help of this controlling strategy, we can synchronize chaotic systems with
unknown parameters and different initial conditions.
Project supported by Doctoral Subject Research Fund of Ministry of Education of China (1999033512) and Science and Technology
Plan Fund of Zhejiang Province (991110412) 相似文献
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针对一类具有未知饱和模型的单输入单输出非线性系统的控制问题,根据滑模控制原理和多层神经网络的逼近能力,提出了一种直接自适应神经网络控制器的设计新方案。该方法将控制增益推广到未知函数,通过补偿饱和模型方法取消了饱和模型各参数已知的条件。鲁棒项的引入消除了建模误差和参数估计误差的影响。理论分析证明了闭环系统是半全局一致终结有界,跟踪误差收敛到零的邻域内。仿真结果进一步表明所提控制方法的有效性。 相似文献
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本文讨论了一类连续混沌系统的自适应同步控制问题，当被控系统含有未知参数时，采用Lya-punov函数方法，设计了一类控制器，对未知参数采用自适应调节，在该控制器的作用下，被控系统的输出自适应同步于具有混沌特征的驱动系统的输出。 相似文献