基于未建模动态补偿的非线性自适应切换控制方法.pdfVIP

第卷第期自动化学报

377Vol.37,No.7

年月

20117ACTAAUTOMATICASINICAJuly,2011

基于未建模动态补偿的非线性自适应切换控制方法

柴天佑2张亚军

摘要针对一类不确定的离散时间零动态不稳定的单输入单输出-(Single-inputsingle-output,SISO)非线性系统提出了,

一种基于未建模动态补偿的非线性控制器采用自适应神经模糊推理系统.(Adaptive-network-basedfuzzyinferencesystem,

ANFIS)和一一映射相结合的方法估计未建模动态在此基础上提出了由线性自适应控制器、非线性自适应控制器以及切换.,

机制组成的自适应切换控制方法该方法通过对上述两种控制器的切换保证闭环系统输入输出信号有界的同时改善系统性.,,

能本文将要求未建模动态全局有界的条件放宽为线性增长建立了所提自适应控制方法的稳定性和收敛性分析通过仿真比.,.

较和水箱的液位控制实验验证了所提方法的有效性,.

关键词非线性系统不稳定零动态未建模动态补偿自适应切换控制,,,

DOI10.3724/SP.J.1004.2011.00773

NonlineardaptiveSwitchingControlMethodBasedonUnmodeled

DynamicsCompensation

CHAITian-You2ZHANGYa-Jun

AbstractThispaperpresentsanonlinearcontrollerbasedonunmodeleddynamicscompensationforaclassofuncer-

tainanddiscrete-timesingle-inputsingle-output(SISO)nonlinearsystemswithunstablezero-dynamics.Bycombining

anadaptive-network-basedfuzzyinferencesystem(ANFIS)with“one-to-onemapping”,acompensatorforunmodeled

dynamicsisconstructed.Withtheabovedevelopment,anadaptiveswitchingcontrolmethodisproposedthatconsists

ofalinearadaptivecontroller,anonlinearadaptivecontrollerandaswitchingmechanism.Byusingswitchingbetween

theabovetwocontrollers,ithasbeenshownthatbothanimprovedperformanceandstabilitycanbeachievedsimultane-

ously.Thepaperassumestheunmodeleddynamicsofthesystemstosatisfyalineargrowthcondition,whichrelaxesthe

widelyusedglobalboundednessconditionontheunmodeleddy