一种非线性多环递归自适应跟踪控制
发布时间：2018-08-06 21:22
【摘要】：针对控制输入有界的变参数广义高阶非线性系统跟踪控制问题,给出一种多环递归跟踪的鲁棒控制方法.通过分层引入虚拟跟踪器,将高阶系统分解为多个独立子系统;内环虚拟跟踪器使内环输出指数收敛于外环虚拟输入,最内环设计自适应控制器补偿参数摄动和外部干扰,并保证输出指数收敛于外环虚拟输入;多环递归跟踪实现系统输出精确跟踪期望输入,理论证明闭环系统的全局渐近收敛性.数值仿真验证了多环跟踪控制器的可行性和合理性.
[Abstract]:In this paper, a robust control method for multi-loop recursive tracking is proposed for the tracking control problem of variable parameter singular high-order nonlinear systems with bounded control inputs. By introducing virtual tracker into layers, the high-order system is decomposed into several independent subsystems, the inner loop virtual tracker converges exponentially to the outer loop virtual input, and the inner loop design adaptive controller compensates for parameter perturbation and external disturbance. The output exponent converges to the virtual input of the outer loop, and the multi-loop recursive tracking realizes the accurate tracking of the desired input. The global asymptotic convergence of the closed-loop system is proved theoretically. The feasibility and rationality of the multi-loop tracking controller are verified by numerical simulation.
【作者单位】： 西安建筑科技大学信息与控制工程学院;西北工业大学自动化学院;
【基金】：西安建筑科技大学青年基金项目(QN1727);西安建筑科技大学人才基金项目(6040317017)
【分类号】：O231
，
本文编号：2169028
[Abstract]:In this paper, a robust control method for multi-loop recursive tracking is proposed for the tracking control problem of variable parameter singular high-order nonlinear systems with bounded control inputs. By introducing virtual tracker into layers, the high-order system is decomposed into several independent subsystems, the inner loop virtual tracker converges exponentially to the outer loop virtual input, and the inner loop design adaptive controller compensates for parameter perturbation and external disturbance. The output exponent converges to the virtual input of the outer loop, and the multi-loop recursive tracking realizes the accurate tracking of the desired input. The global asymptotic convergence of the closed-loop system is proved theoretically. The feasibility and rationality of the multi-loop tracking controller are verified by numerical simulation.
【作者单位】： 西安建筑科技大学信息与控制工程学院;西北工业大学自动化学院;
【基金】：西安建筑科技大学青年基金项目(QN1727);西安建筑科技大学人才基金项目(6040317017)
【分类号】：O231
，
本文编号：2169028
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