降低控制输入策略在不确定非线性控制系统中的应用

发布时间：2018-04-17 13:49

本文选题：自适应干扰抑制 + 广义高阶不确定非线性系统　；参考：《曲阜师范大学》2017年硕士论文

【摘要】：众所周知,与线性系统相比,非线性系统对系统的刻画更精确,且更能展示系统的本质特征.它在实际工程应用中尤为常见,非线性系统的控制设计一直是控制理论领域中的研究热点和难点,同时考虑到现存的实际条件,在降低控制输入策略情况下,实现系统的渐近稳定十分必要,它广泛应用于机器人系统、电力系统、航天系统和生物化学等系统中.因此,降低控制输入策略对非线性系统的设计既有理论意义又有实际价值.本文的研究内容主要从以下两方面开展:一、广义高阶不确定非线性系统的自适应扰动抑制问题研究.本章研究了一类广义高阶不确定非线性系统的自适应扰动抑制问题.该控制策略在连续控制基础上并巧妙结合的自适应技术,它能够应对各种不确定性,包括具有未知上下界的时变控制系数、非线性参数和外部扰动.本部分设计的自适应状态反馈控制器是一维的,同时该控制策略对控制量的要求较低,并且它与未知参数的数目无关且其性能在2-2增益上被评估.二、一类非线性系统饱和控制器的参数分配方法研究.本章提出了针对一类非线性系统的饱和控制器的小参数控制方法,它充分利用了导数项的负项性质,并巧妙结合坐标变换使非线性系统渐近稳定.与传统的反推方法相比,在出现相似的控制效果前提下,新的控制策略大大降低了系统对控制量的要求.在本章最后,给出了一个数值例子来进一步说明所提出的控制策略的优良性能.
[Abstract]:It is well known that compared with linear systems, nonlinear systems describe the systems more accurately and exhibit the essential characteristics of the systems more accurately.It is particularly common in practical engineering applications. The control design of nonlinear systems is always a hot and difficult point in the field of control theory. Considering the existing practical conditions, the control input strategy is reduced.It is necessary to realize the asymptotic stability of the system. It is widely used in robot system, power system, space system and biochemistry system.Therefore, reducing the control input strategy has both theoretical and practical value for the design of nonlinear systems.The main contents of this paper are as follows: first, adaptive disturbance suppression for singular high-order uncertain nonlinear systems.In this chapter, the problem of adaptive disturbance suppression for a class of singular high order uncertain nonlinear systems is studied.The control strategy is based on continuous control and adaptively combined with various uncertainties, including time-varying control coefficients with unknown upper and lower bounds, nonlinear parameters and external disturbances.The adaptive state feedback controller designed in this part is one-dimensional, and the control strategy requires less control variables, and it is independent of the number of unknown parameters and its performance is evaluated on 2-2 gain.Secondly, the parameter assignment method for a class of nonlinear system saturation controllers is studied.In this chapter, a small parameter control method for saturated controllers of a class of nonlinear systems is proposed, which makes full use of the negative property of the derivative term and makes the nonlinear system asymptotically stable by combining coordinate transformation skillfully.Compared with the traditional backstepping method, the new control strategy greatly reduces the requirement of the control quantity under the premise of similar control effect.At the end of this chapter, a numerical example is given to illustrate the excellent performance of the proposed control strategy.
【学位授予单位】：曲阜师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP13

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