基于RBFNN的时滞非线性系统自适应控制器设计研究.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 基于RBFNN 的时滞非线性系统自适应控制器设计 薛秀莉，杨青，李树荣 中国石油大学信息与控制工程学院,东营 257061 E-mail ：xuexiuli123@163.com lishuron@ 摘 要: 本文针对一类带有时滞的严格反馈非线性系统，设计了基于RBF神经网络的自适应控制器。在RBF神经 网络在线估计模型的基础上，本文通过设计新的Lyapunov-Krasovskii 函数推导出了新的状态自适应控制器。该 控制器保证闭环系统是半全局一致有界的。仿真实例也证明了控制器的有效性。 关键词: RBF神经网络， 时滞非线性系统，Lyapunov-Krasovskii 函数，自适应控制 Adaptive RBF NN-based controller design for a class of time-delay nonlinear systems XUE Xiuli, YANG Qing and LI Shurong College of Information and Control Engineering, China University of Petroleum, Dongying, 257061 E-mail: xuexiuli123@163.com lishuron@ Abstract: In this paper, an adaptive neural controller for a class of strict-feedback time-delay nonlinear system with unknown time-delay is proposed. Based on a RBF neural network online approximation model, a state feedback adaptive controller is obtained by constructing a novel Lyapunov-Krasovskii functional. It’s shown that the proposed method guarantees the semiglobal boundedness of all signals in the adaptive closed-loop systems. A simulation example is provided to illustrate the validity of the proposed controller. Key Words: RBF neural network; time-delay nonlinear system; Lyapunov-Krasovskii functional; adaptive control 本文针对一类时滞非线性系统，对文献[9]中的 1 引言(Introduction) 模型假设条件作出了改进。在新的假设条件下，设 计了一种新的 Lyapunov-Krasovskii 函数，通过 人工神经网络因其各种优点导致了它与自适应