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浸入与不变方法原理 及其在非线性自适应控制中的应用
刘振; 谭湘敏; 易建强; 袁如意; 范国梁
Source Publication智能系统学报
Other Abstract非线性系统理论的实际工程需求和复杂性使其成为控制学科中最具吸引力和挑战性的研究领域, 为此介绍了一种新的非线性控制律设计方法———浸入与不变( I&I) 理论该方法首先选择一个比被控系统维数低的( 局部) 渐近稳定的目标系统,然后设计浸入映射和控制律,使得原系统在控制律作用下的动态轨迹都是目标系统在浸入映射下的像,并且该控制律能够保持目标系统的像为不变吸引流形,且使闭环轨迹有界针对未知点质量模型, 设计了一种新的非线性浸入与不变自适应控制律,实现了对参考指令的精确跟踪将其与基于确定等价原则的自适应控制律相比较,仿真结果表明,所设计的浸入与不变控制律能够更好地处理带有未知参数的系统
The actual engineering demands and the complexities of the nonlinear system theory have led it to become the most attractive and challenging research field in control subjectsthereforea new nonlinear control law design methodimmersion and invariance ( I&I) theory has been introduced. With this methoda ( partially) asymptotically stable system with a dimension less than that of the controlled system is firstly selected as the target system
then the immersion mapping and control law are designed to make the controlled dynamics of the original system is an immersion image of the target system. In additionthe control law can keep the image of the target system as an invariant and attractive manifoldand render the trajectory of the closed-loop system bounded. Focusing on the unknown point mass modela new nonlinear immersion and invariance adaptive control law is designed for realizing the precise tracking of a reference command. Compared with the adaptive control law based on the certainty-equivalent principlethe simulation results show that the proposed I&I adaptive control law is quite effective for processing a system with unknown parameters.
Keyword非线性控制 浸入与不变理论 自适应控制 控制律 未知点质量系统
Document Type期刊论文
Recommended Citation
GB/T 7714
刘振,谭湘敏,易建强,等. 浸入与不变方法原理 及其在非线性自适应控制中的应用[J]. 智能系统学报,2013(5):400-407.
APA 刘振,谭湘敏,易建强,袁如意,&范国梁.(2013).浸入与不变方法原理 及其在非线性自适应控制中的应用.智能系统学报(5),400-407.
MLA 刘振,et al."浸入与不变方法原理 及其在非线性自适应控制中的应用".智能系统学报 .5(2013):400-407.
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