一种时变非线性系统自适应逆控制仿真.pdfVIP

第 18 卷第 3 期 系 统 仿 真 学 报© Vol. 18 No. 3 2006 年 3 月 Journal of System Simulation Mar. ， 2006 一种时变非线性系统的自适应逆控制仿真 张宇明，曹其新 （上海交通大学机器人研究所，上海 200030 ） 摘 要：对一种非线性时变系统提出了基于神经网络的自适应逆控制方案。该方案中用两个动态 神经网络分别作为模型辨识器和自适应逆控制器，详细推导了在线训练自适应逆控制器的 BPTM （ ）和 （ ）算法。根据大幅面喷 back propagation through model RTRL real time recursive learning 墨打印机的结构特点，建立了打印头车架系统的时变非线性动力学模型作为仿真对象，在 Matlab/Simulink 平台下进行了算法仿真验证。结果表明了该方案收敛快，能有效控制该时变非线性 对象。 关键词： 自适应逆控制；非线性；神经网络；打印头车架；仿真 中图分类号：TP273.2 文献标识码：A 文章编号：1004-731X (2006) 03-0760-04 Simulation of Adaptive Inverse Control for Time-varying Nonlinear System ZHANG Yu-ming, CAO Qi-xin (Robotics Institute, Shanghai Jiaotong University, Shanghai 200030,China) Abstract: An adaptive inverse control scheme was proposed for a kind of time-varying nonlinear systems . In the scheme there are two neural networks as the model identifier and the adaptive inverse controller. The BPTM and RTRL algorithms for training the controller were investigated in detail. To verify the scheme, a time-varying nonlinear dynamic model as the simulation plant was constructed for the printer head carriage of a kind of large scale ink jet printers with the special structure characters. The scheme was simulated in Matlab/Simulink, and the results show that the controller converges very fast and the scheme is suitable for the time-varying nonlinear plant. Key words: adaptive inverse control; nonlinear; neura