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一类具有时变延迟的不确定非线性系统的鲁棒自适应控制

Robust adaptive control for a class of uncertain nonlinear systems with time-varying delay.

作者信息

Wang Ruliang, Li Jie, Zhang Shanshan, Gao Dongmei, Sun Huanlong

机构信息

Computer and Information Engineering College, Guangxi Teachers Education University, Nanning 530023, China.

出版信息

ScientificWorldJournal. 2013 Jun 17;2013:963986. doi: 10.1155/2013/963986. Print 2013.

DOI:10.1155/2013/963986
PMID:23853544
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC3703331/
Abstract

We present adaptive neural control design for a class of perturbed nonlinear MIMO time-varying delay systems in a block-triangular form. Based on a neural controller, it is obtained by constructing a quadratic-type Lyapunov-Krasovskii functional, which efficiently avoids the controller singularity. The proposed control guarantees that all closed-loop signals remain bounded, while the output tracking error dynamics converge to a neighborhood of the desired trajectories. The simulation results demonstrate the effectiveness of the proposed control scheme.

摘要

我们针对一类具有块三角形式的受扰非线性多输入多输出时变延迟系统提出自适应神经控制设计。基于神经控制器，通过构造二次型李雅普诺夫 - 克拉索夫斯基泛函来获得该控制器，这有效地避免了控制器奇异性。所提出的控制保证所有闭环信号保持有界，同时输出跟踪误差动态收敛到期望轨迹的邻域。仿真结果证明了所提出控制方案的有效性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/901eab23257a/TSWJ2013-963986.005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/8ff940283019/TSWJ2013-963986.001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/b62ab24bde9f/TSWJ2013-963986.002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/e06e5cebec26/TSWJ2013-963986.003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/ad83c453a761/TSWJ2013-963986.004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/901eab23257a/TSWJ2013-963986.005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/8ff940283019/TSWJ2013-963986.001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/b62ab24bde9f/TSWJ2013-963986.002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/e06e5cebec26/TSWJ2013-963986.003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/ad83c453a761/TSWJ2013-963986.004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a149/3703331/901eab23257a/TSWJ2013-963986.005.jpg

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本文引用的文献

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Gaussian networks for direct adaptive control.用于直接自适应控制的高斯网络
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Adaptive control of a class of nonaffine systems using neural networks.基于神经网络的一类非仿射系统的自适应控制
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