| 引用本文: | 赵新龙,汪佳丽.未知控制方向的迟滞非线性系统预设自适应控制[J].控制理论与应用,2015,32(5):682~688.[点击复制] |
| ZHAO Xin-long,WANG Jia-li.Prescribed performance adaptive control for nonlinear systems with unknown control direction preceded by hysteresis[J].Control Theory and Technology,2015,32(5):682~688.[点击复制] |
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| 未知控制方向的迟滞非线性系统预设自适应控制 |
| Prescribed performance adaptive control for nonlinear systems with unknown control direction preceded by hysteresis |
| 摘要点击 3249 全文点击 2346 投稿时间：2014-07-29 修订日期：2015-01-07 |
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| DOI编号 10.7641/CTA.2015.40702 |
| 2015,32(5):682-688 |
| 中文关键词 迟滞 迟滞算子 神经网络 自适应控制 |
| 英文关键词 hysteresis hysteretic operator neural networks adaptive control |
| 基金项目 国家自然科学基金项目(61273184), 长江学者和创新团队发展计划项目(IRT13097), 浙江省自然科学基金项目(LY15F030022), 浙江理工大学 521人才培养计划项目资助. |
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| 中文摘要 |
| 针对一类含有迟滞特性的未知控制方向严反馈非线性系统, 设计了基于误差变换的反步自适应控制器. 首 先提出动态迟滞算子来扩展输入空间建立神经网络迟滞模型. 然后利用径向基函数(RBF)神经网络逼近未知函数, 并引入Nussbaum型函数来解决系统未知控制方向问题. 最后采用误差变换将误差限定在预设的范围内, 并利用反 步法设计自适应控制器. 该控制方案不仅能够保证跟踪精度, 还可以提高系统暂态和稳态性能. 仿真结果表明了控 制方案的可行性. |
| 英文摘要 |
| An adaptive backstepping controller is developed for a class of strict-feedback nonlinear systems with hysteresis
and unknown control direction. First, a hysteretic operator is employed to construct an augmented input space for
transforming the multi-valued mapping of hysteresis into a one-to-one mapping which enables neural networks to model
the hysteresis. Then radial basis function (RBF) neural networks are used to approximate the unknown functions, and the
unknown control direction is solved by Nussbaum function. Finally, error transformation is used to confine the error to a
predefined residual set and an adaptive controller is proposed based on backstepping technique. This control scheme not
only guarantees the tracking accuracy, but also improves the transient and steady-state performance. Simulation results
show that the control scheme is feasible. |