摘要
针对仿射非线性系统的一类摄动死区控制问题,利用步进反推技术给出了一种控制器设计方案。在系统动态特性未知的情况下,该方案应用具有自适应机制的模糊系统对动态特性进行在线辨识,从而可以通过逐步递推最终实现控制器。为了避免执行器死区对系统性能的影响,在控制设计过程中,先用一个平滑曲线近似死区特性曲线,然后将近似误差合理分解,使未知的扰动类似项的上界尽量小,再利用此上界设计附加控制抑制扰动类似项对系统的影响。所设计的控制器可使闭环系统稳定且能输出实时跟踪给定参考信号。
The control problem for affine nonlinear systems with perturbed dead-zones is studied in this paper, and backstepping technique is employed to obtain a control scheme. The scheme does not require that the dynamics property of the controlled system is known, but fuzzy systems with adaptive mechanism are employed to recognize the dynamics property,based on which every virtual controller and the real controller in the last step can be realized. In order to avoid the influence from the actuator dead-zone, a smooth curve is used to approximate the curve of the dead-zone property in the control design. Then the approximation error is decomposed to make the disturbance-like item as small as possible, thus robust control can be employed to deal with it. The designed controller can guarantee the closed-loop stability and the output can track the given reference signal well.
出处
《江南大学学报（自然科学版）》
CAS
2011年第6期631-636,634+633+635-636,共6页
Joural of Jiangnan University (Natural Science Edition)
基金
国家自然科学基金项目(61143005)
福建省自然科学基金青年创新项目(2011J05153)
福建省科技计划重大项目(2011H6019)
福建省科技计划重点项目(2009H0033)
泉州市科技计划重大项目(2008ZD14-21)
华侨大学高层次人才科研启动项目(10BS108)
关键词
摄动死区
自适应
仿射非线性系统
模糊逼近
步进反推
perturbed dead-zone, adaptive, affine nonlinear system, fuzzy approximation, Baekstepping
