不确定非线性切换系统的自适应跟踪控制

发布时间：2018-04-20 13:48

本文选题：切换系统 + 自适应控制　；参考：《渤海大学》2017年硕士论文

【摘要】：随着现代工业化的发展,常规的线性系统控制方法及相关理论已不能满足对控制精度方面的要求。切换系统作为一种混合的系统,它由一系列线性时不变子系统和一个切换律构成,其中的切换率用来指定子系统之间的相互切换。为了进一步提高控制的精度,切换系统在许多领域都得到了普遍的应用。切换系统不仅为带有突然地环境扰动、部件故障或维修以及实际操作中工作点突然变化的系统提供了建模方法,而且提高了控制精度。本文针对两种不同的非线性切换系统跟踪控制问题进行了研究,考虑了在不同情况下系统的控制问题。一种情况是对于带有时滞不确定非线性切换系统的跟踪控制问题的研究。使用自适应反推法和共同李雅普诺夫函数,提出了一类自适应模糊控制器,其中的模糊逻辑系统用来靠近未知的非线性函数,被提出的控制器保证了输出信号可以收敛于参考信号一个很小的范围内,并且所有的信号都是有界的。在设计的过程中,本文提出的方法含有更少的参数和自适应律,从而更加容易实现。另一种情况是对于带有扰动的不确定下三角结构切换系统的跟踪控制问题的研究。提出了一类状态反馈控制器,使用了反推法和模糊逻辑系统。所设计的控制器可以确保所有信号有界并有很小的跟踪误差。最后大量的仿真结果论证了该方法的有效性。
[Abstract]:With the development of modern industrialization, conventional linear system control methods and related theories can not meet the requirements of control accuracy. As a hybrid system, switched systems consist of a series of linear time-invariant subsystems and a switching law, in which the switching rate is used to specify the switching between subsystems. In order to further improve the control accuracy, switching system has been widely used in many fields. The switching system not only provides a modeling method for the system with sudden environmental disturbance, component failure or maintenance and sudden change of operating point in actual operation, but also improves the control accuracy. In this paper, two different tracking control problems for nonlinear switched systems are studied, and the control problems of the systems under different conditions are considered. One case is the tracking control problem for uncertain nonlinear switched systems with time delay. In this paper, an adaptive fuzzy controller is proposed by using the adaptive backstepping method and the common Lyapunov function. The fuzzy logic system is used to approach the unknown nonlinear function. The proposed controller ensures that the output signal can converge to a very small range of the reference signal and that all the signals are bounded. In the design process, the method proposed in this paper contains less parameters and adaptive law, so it is easier to implement. Another case is the study of tracking control for uncertain lower triangular switched systems with perturbations. In this paper, a class of state feedback controllers is proposed, which uses backstepping method and fuzzy logic system. The controller is designed to ensure that all signals are bounded and have very small tracking errors. Finally, a large number of simulation results demonstrate the effectiveness of the method.
【学位授予单位】：渤海大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273.2

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