期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

非线性递推控制TORA系统 被引量：4

Nonlinear Recursive Control TORA System
在线阅读 下载PDF
导出
摘要 针对欠驱动系统TORA,通过部分反馈线性化和全局坐标变换,得到系统的非线性反馈级联模型.为TORA系统提出了一种两步递推反步设计方法,得到系统的非线性控制器.设计过程中利用李雅普诺夫稳定理论保证了系统的稳定性.仿真结果表明系统在任何初始状态下均能渐进稳定于其原点. The TORA system model is transformed to a feedback cascade model with the partial feedback linearization and a global coordinate change .A two-steps recursive backstepping algorithm is proposed for the TORA system to obtain a nonlinear con-troller .During the design process ,the system stability is guaranteed with the Lyapunov theory .The simulation results show the TO-RA system under any initial states is globally asymptotically stable to its origin .
作者 郭卫平 刘殿通 李帅
机构地区 烟台大学计算机学院
出处 《电子学报》 EI CAS CSCD 北大核心 2013年第11期2252-2255,共4页 Acta Electronica Sinica
基金 国家自然科学基金(No.61175086 No.61203320) 山东省高等学校科技计划项目(No.J13LN25)
关键词 欠驱动系统 TORA 反步 非线性控制 递推 underactuated system TORA backstepping nonlinear control recursive
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献13

  • 1Robert T B,Bernstein D S,Coppola V T.A benchmark problem for nonlinear control design[J].International Journal of Robust and Nonlinear Control,1998,8(4-5):307-310.
  • 2Hung L C,Lin H P,Chung H Y.Design of self-tuning fuzzy sliding mode control for TORA system[J].Expert Systems with Applications,2007,32(1):201-212.
  • 3Lee C H,Yu T M,and Chien J C.Adaptive neural network controller design for a class of nonlinear systems using SPSA algorithm[A].Proceedings of the International Multi-Conference on Engineers and Computer Scientists[C].Hong Kong:Newswood Limited,2011.967-974.
  • 4杜贞斌,宋宜斌.基于模糊逼近的非线性多时延系统的自适应跟踪控制[J].电子学报,2012,40(5):897-900. 被引量：3
  • 5罗艳红,张化光,张庆灵.执行器带未知不对称死区的一类仿射非线性系统的神经网络自适应控制器的设计[J].电子学报,2008,36(11):2113-2119. 被引量：1
  • 6高丙团.TORA的动力学建模及基于能量的控制设计[J].自动化学报,2008,34(9):1221-1224. 被引量：19
  • 7Jankovic M,Fontaine D,Kokotovic P V.TORA example:cascade and passivity based control designs[J].IEEE Transactions on Control Systems Technology,1996,4(3):292-297.
  • 8Bupp R,Bernstein D S,Coppola V T.Experimental implementation of integrator backstepping and passive nonlinear controllers on the RTAC testbed[J].International Journal of Robust and Nonlinear Control,1998,8(4-5):435-457. 3.0.CO;2-4 target="_blank">.
  • 9Wang Y Q,Li S,Chen Q W.A recursive design method of controller for the stabilization of the translational oscillator with a rotational actuator system[A].Proceedings of the IEEE International Conference on Computer Science and Automation Engineering[C].USA:IEEE press,2011.558-561.
  • 10Chen Y F,Huang A C.Controller design for a class of underactuated mechanical systems[J].IET Control Theory Application,2012,6(1):103-110.

二级参考文献29

  • 1薛振框,李少远.MIMO非线性系统的多模型建模方法[J].电子学报,2005,33(1):52-56. 被引量：18
  • 2季策,张化光.具有参数摄动的时滞Hopfield神经网络的鲁棒稳定性[J].电子学报,2005,33(1):115-118. 被引量：3
  • 3Tao G, Kokotovic P V. Adaptive control of plants with unknown dead-zones [J ]. IEEE Trans on Automatic Control, 1994,39(1) :59 - 68.
  • 4Selmic R R, Lewis F L. Deadzone compensation in motion control systems using neural networks[ J]. IEEE Trans on Automatic Control, 2000,45(4) :602 - 613.
  • 5Wang X S,Hong H,Su C Y.Model reference adaptive control of continuous time systems with an unknown dead-zone[J] .IEE Proceedings--Control Theory Applications,2003,150(3) :261 - 266.
  • 6Zhou J,Wen C,Zhang Y. Adaptive output control of nonlinear systems with uncertain dead-zone nonlinearity[J ]. IEEE Trans on Automatic Control, 2006,51 (3), 504 - 511.
  • 7Gao W, Rastko R S. Neural network control of a class of non-linear systems with actuator saturation[J]. IEEE Trans on Neural Network, 2006,17( 1 ) : 147 - 156.
  • 8Park J-H, Huh S-H, et al. Direct Adaptive Controller for Nonaffine Nonlinear Systems Using Self-Structuring Neural Networks [J] .IEEE Trans on Neural Network,2005,16(2) :414- 422.
  • 9Zhang T P, CJe S S. Adaptive neural control of MIMO nonlinear state time-varying delay systems with unknown dead-zones and gain signs[J]. Automatica,2007,43(6):1021 - 1033.
  • 10J Ge S S, Wang C. Adaptive neural control of uncertain MIMO nonlinear systems[J].IEEE Trans on Neural Network, 2004, 15 (3) :674 - 692.

共引文献20

同被引文献18

引证文献4

二级引证文献17

电子学报
2013年 第11期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部