本文關鍵詞：具有未建模動態(tài)的純反饋系統(tǒng)自適應動態(tài)面控制研究　出處：《揚州大學》2017年碩士論文　論文類型：學位論文

  更多相關文章： 動態(tài)面控制 未建模動態(tài) 神經(jīng)網(wǎng)絡估計 輸入未建模動態(tài) 狀態(tài)約束 障礙Lyapunov函數(shù) 輸出約束 分散自適應動態(tài)面控制 積分型障礙Lyapunov函數(shù)

【摘要】：實際的非線性系統(tǒng)往往存在系統(tǒng)函數(shù)未知、控制增益未知、未建模動態(tài)等多種不確定性,其中,未建模動態(tài)可能會破壞系統(tǒng)的穩(wěn)定性條件,易造成系統(tǒng)不穩(wěn)定,因而包含未建模動態(tài)的不確定非線性系統(tǒng)的自適應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,因此相對于嚴格反饋形式,對這類系統(tǒng)的研究更為復雜.近年來,關于非線性控制系統(tǒng)的設計,在滿足穩(wěn)定性要求的前提下,進一步提出了誤差約束或動態(tài)性能指標,要求跟蹤誤差滿足常值約束或以一定的收斂率收斂到預設的小殘差集內(nèi),也就是輸出約束及預設性能控制.將這種約束施加到嚴格反饋或純反饋系統(tǒng)的可量測狀態(tài)上,則形成狀態(tài)約束問題.對此,目前常用的解決方法是引入模型預估控制、誤差轉換、障礙Lyapunov函數(shù)等.針對這些自適應控制熱點問題,本文利用徑向基函數(shù)神經(jīng)網(wǎng)絡的逼近能力,將Lyapunov穩(wěn)定性理論、自適應控制理論、動態(tài)面控制、分散控制技術有機結合,對幾類帶有未建模動態(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控制方案,主要成果如下:第一,針對一類具有狀態(tài)和輸入未建模動態(tài)且控制增益符號未知的純反饋非線性系統(tǒng),利用非線性變換、改進的動態(tài)面控制方法和Nussbaum函數(shù)性質,提出兩種自適應動態(tài)面控制方案.利用正則化信號來約束輸入未建模動態(tài),從而有效地抑制其產(chǎn)生的擾動.通過引入動態(tài)信號,有效地處理了由狀態(tài)未建模動態(tài)引起的動態(tài)不確定性.通過在總的Lyapunov函數(shù)中加入非負正則化信號,并利用動態(tài)面控制證明的特點,有效地處理了控制信號的有界性.通過理論分析證明了閉環(huán)控制系統(tǒng)是半全局一致終結有界的.通過倒立擺模型及三階系統(tǒng)的數(shù)值仿真驗證了所提方案的有效性.第二,針對一類具有未建模動態(tài)、輸出及狀態(tài)約束的純反饋非線性系統(tǒng),通過非線性變換將純反饋非線性系統(tǒng)轉化為形式上的嚴格反饋非線性系統(tǒng).利用改進的動態(tài)面控制方法,提出了一種新的自適應控制方案.利用動態(tài)信號處理未建模動態(tài),在第一步及遞推的每一步引入障礙Lyapunov函數(shù)(BLF),設計相應的虛擬控制及自適應控制律并保證閉環(huán)系統(tǒng)有界,從而實現(xiàn)輸出及狀態(tài)約束.數(shù)值仿真驗證了所提方案的有效性.第三,針對一類具有狀態(tài)未建模動態(tài)和輸出約束的非線性純反饋耦合大系統(tǒng),通過利用改進的動態(tài)面控制方法,提出了一種分散自適應動態(tài)面控制方法.在遞推設計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,設計虛擬控制器.利用穩(wěn)定性分析中引入的緊集及動態(tài)面控制中穩(wěn)定性分析的特點,有效地處理了耦合作用項,證明了閉環(huán)系統(tǒng)內(nèi)的信號是半全局一致終極有界且輸出信號滿足輸出約束要求.數(shù)值仿真驗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.

【學位授予單位】：揚州大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273

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