基于干扰观测器的一类不确定非线性系统自适应二阶动态terminal滑模控制

发布时间：2018-01-17 22:17

本文关键词：基于干扰观测器的一类不确定非线性系统自适应二阶动态terminal滑模控制　出处：《控制理论与应用》2017年02期 　论文类型：期刊论文

【摘要】：针对一类不确定非线性系统的跟踪控制问题,在考虑建模误差、参数不确定和外部干扰情况下,以其拥有良好的跟踪性能以及强鲁棒性为目标,提出基于回归扰动模糊神经网络干扰观测器(recurrent perturbation fuzzy neural networks disturbance observer,RPFNNDO)的鲁棒自适应二阶动态terminal滑模控制策略.将回归网络、模糊神经网络和sine-cosine扰动函数各自优势相结合,给出一种回归扰动模糊神经网络结构,提出RPFNNDO设计方法,保证干扰估计准确性;构造基于带有指数函数滑模面的二阶快速terminal滑模面,给出其控制器设计过程,避免了滑模到达阶段、传统滑模的抖振问题,采用具有指数收敛的鲁棒项抑制干扰估计误差对系统跟踪性能的影响,利用Lyapunov理论证明闭环系统的稳定性;将该方法应用于混沌陀螺系统同步控制仿真实验,结果表明所提方法的有效性.
[Abstract]:Considering modeling error, parameter uncertainty and external disturbance, the tracking control problem for a class of uncertain nonlinear systems is aimed at its good tracking performance and strong robustness. A disturbance observer based on regression perturbation fuzzy neural network (FNN) is proposed. Recurrent perturbation fuzzy neural networks disturbance observer. The robust adaptive second-order dynamic terminal sliding mode control strategy combines the advantages of regression network, fuzzy neural network and sine-cosine perturbation function. A fuzzy neural network structure with regression disturbance is presented, and a RPFNNDO design method is proposed to ensure the accuracy of disturbance estimation. The second order fast terminal sliding mode surface with exponential function sliding surface is constructed, and the controller design process is given, which avoids the chattering problem of the traditional sliding mode during the sliding mode arrival stage. The robust term with exponential convergence is used to suppress the influence of disturbance estimation error on the tracking performance of the system, and the stability of the closed-loop system is proved by Lyapunov theory. The method is applied to the simulation experiment of chaotic gyroscope system synchronization control, and the results show that the proposed method is effective.
【作者单位】：济南大学自动化与电气工程学院;江南大学轻工过程先进控制教育部重点实验室;
【基金】：国家自然科学基金项目(61403161,61503156) 山东省自然科学基金项目(ZR2012FQ030) 济南大学博士基金项目(XBS1459)资助~~
【分类号】：TP273;TP183
【正文快照】： 1引言(Introduction)仿射非线性系统的控制问题一直是研究热点,并取得了大量成果,如T--S模糊控制[1]、预测控制[2]、回馈递推控制[3]和滑模控制(sliding mode control,SMC)[4 6]等.其中SMC因其在滑动模态时具有快速响应、对参数引起的不确定及外部扰动具有鲁棒性等优势,已成

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