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一种自适应CMAC在交流励磁水轮发电系统中仿真研究 总被引:2,自引:0,他引:2
在分析常规CMAC结构的基础上,针对一类非线性、参数时变和不确定的控制系统,提出了一种自适应CMAC神经网络的控制器.该控制器以系统动态误差和给定信号量作为CMAC的激励信号,并与自适应线性神经元网络相结合构成系统的复合控制.为了验证其有效性,将其应用到交流励磁水轮发电机系统的多变量非线性控制中,并与常规的PID控制效果进行了比较.仿真结果表明,该控制器具有较强鲁棒性和自适应能力,控制品质优良。 相似文献
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研究了连续时间混沌系统的参数自适应控制,提出了关于多重参数混沌非线性系统的参数自适应控制的新方法.考虑系统参数是线性形式的自适应控制,利用Lyapunov方法证明了参数控制方程是全局渐近稳定的.研究结果表明该控制方法是分析混沌参数自适应控制的一个十分有效的方法. 相似文献
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对于一类参数未知的多变量周期系统,传统自适应控制方法存在参数收敛慢的问题,导致系统暂态响应差、控制效果不理想.因此,本文针对多变量周期系统设计了多模型二阶段自适应控制器.首先根据先验知识,确定不确定区域范围,并在不确定区域内建立多个自适应模型.然后根据李雅普诺夫理论得到第一阶段辨识方程;在第二阶段中,充分考虑辨识误差并确定了权值自适应律,以此获取虚拟模型以提高参数的收敛速度.接着,利用得到的虚拟模型参数设计了二阶段自适应控制器,在保证了系统稳定性的基础上,提高了系统的暂态性能.最后,给出的仿真结果表明多模型二阶段自适应控制器提高了参数的收敛速度,改善了系统的暂态性能. 相似文献
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针对具有未知定常参数和标准Wiener噪声扰动的严格反馈非线性系统,结合参考信号,构造了误差系统,使用Backstepping算法设计了误差系统的自适应逆最优控制律和参数自适应律,进而解决了原系统的鲁棒自适应逆最优跟踪. 相似文献
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含有非线性不确定参数的电液系统滑模自适应控制 总被引:3,自引:1,他引:2
针对含有非线性不确定参数的电液控制系统, 提出了一种滑模自适应控制方法. 该控制方法主要是为了解决由于初始控制容积的不确定性而引起的, 非线性不确定参数自适应律设计的难题. 其主要特点为, 通过定义一个新型的特Lyapunov 函数, 进而构建系统的自适应控制器及参数自适应律, 并结合滑模控制方法及一种简单的鲁棒设计方法, 给出整个电液系统的滑模自适应控制器, 及所有不确定参数的自适应律. 试验结果表明, 采用该控制方法能够取得良好的性能, 尤其可以补偿非线性不确定参数对系统的影响. 相似文献
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Mario Luca Fravolini Tansel Yucelen Antonio Ficola Marcello Rosario Napolitano 《International journal of control》2017,90(2):307-321
A fundamental and critical problem for Model Reference Adaptive Control (MRAC) systems is the characterisation of the system response during transients. This problem is strictly related to the estimation of the reachable set (RS) from a fixed set of initial conditions and it is typically tackled using the Lyapunov's direct method. One well-known drawback of this approach is the excessive conservatism in the estimation of the RS. To overcome this limitation the authors propose a novel probabilistic framework where uncertain parameters and control signals are considered as random variables. In this framework the RS design is translated into a stochastic convex optimisation problem. This brings the benefit that (probabilistic) LMIs with reduced conservatism can be worked out. The so-called scenario optimisation approach is then used to solve the stochastic optimisation problem with a-priori specified level of reliability. The novel approach is compared with an existing worst-case approach in determining the RS of MRAC systems in the presence of matched and input uncertainty via simulation studies. The proposed methodology can potentially be a useful tool for the probabilistic analysis and design of a broad category of existing adaptive control systems. 相似文献
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Tansel Yucelen Yildiray Yildiz Rifat Sipahi Ehsan Yousefi Nhan Nguyen 《International journal of control》2018,91(10):2314-2331
Model reference adaptive control (MRAC) offers mathematical and design tools to effectively cope with many challenges of real-world control problems such as exogenous disturbances, system uncertainties and degraded modes of operations. On the other hand, when faced with human-in-the-loop settings, these controllers can lead to unstable system trajectories in certain applications. To establish an understanding of stability limitations of MRAC architectures in the presence of humans, here a mathematical framework is developed whereby an MRAC is designed in conjunction with a class of linear human models including human reaction delays. This framework is then used to reveal, through stability analysis tools, the stability limit of the MRAC–human closed-loop system and the range of model parameters respecting this limit. An illustrative numerical example of an adaptive flight control application with a Neal–Smith pilot model is presented to demonstrate the effectiveness of developed approaches. 相似文献
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A novel fuzzy adaptive control algorithm is presented that belongs to direct model reference adaptive techniques based on a fuzzy (Takagi-Sugeno) model of the plant. The global stability of the overall system is proven, namely all the signals in the system remain bounded while the tracking error and estimated parameters converge to some residual set that depends on the size of disturbance and high-order parasitic dynamics. The hallmarks of the approach are its simplicity and transparency. The proposed algorithm is a straightforward extension of classical model reference adaptive control (MRAC) with a robust adaptive law to nonlinear systems described by fuzzy models. The performance of the approach was tested on a simulated plant and compared with the performance of a PI controller and a classical MRAC. 相似文献
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Reference is made to a recent paper by G.C. Goodwin, R. Lozano Leal, D.Q. Mayne, and R.H. Middleton (Automatica, vol.22, p.199-207, 1986), where it is shown that a cancellation of nonminimum-phase zeros appearing in discrete-time model reference adaptive control (MRAC) at a fast sampling rate can be easily avoided if the model to be identified is expressed in terms of the delta operator. A new proof of stability of the MRAC is given using the delta operator which, in contrast to the proof given in the above paper, does not require an assumption that a system consisting of a model determined by estimated parameters and a control law based on certainty equivalence principle is exponentially stable. A simple parameterization is proposed for the discrete-time MRAC using the delta operator which allows application of the usual (i.e. without dead zone) estimation algorithms 相似文献
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The accuracy of the motion control for robotic mechanisms will have an effect on their overall performance. Under the condition where the robotic end-effector carries different loads, the motions for each joint of robotic mechanisms change depending on different payload masses. Conventional control systems possess the potential issue that they cannot compensate the load variation effect. Adaptive control, especially the model reference adaptive control (MRAC), has therefore been put forward to handle the above issue. Adaptive control is generally divided into three categories, model reference, self-tuning and gain-scheduled. In this study, the authors only focus on the model-reference approach. To the best of the authors’ knowledge, very few recent research articles can be found in the area of MRAC especially for robotic mechanisms since robotic system is a highly nonlinear system, and it is difficult to guarantee the stability of MRAC in such system. This study presents a review and discussion on the MRAC of robotic mechanisms and some issues of MRAC for robotic mechanisms are also demonstrated. This study can provide a guideline for upcoming research in the field of MRAC for robotic mechanisms. 相似文献
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In this paper, an adaptive control scheme is employed for joining Aluminium 6061 alloy sheets by Cold Metal Transfer (CMT) process. The transfer function model of the CMT welding system is derived using empirical equations. The CMT plant transfer function is estimated using system identification technique. For the estimated plant model, a conventional PID controller is initially designed by tuning the controller parameters. The designed control system is tested for its ability to control the welding current when short circuit phase and arcing phase are detected. Following the conventional PID controller, a Model Reference Adaptive Controller is implemented to maintain the welding current at desired range during melting and electrode wire short circuiting. The performance analysis for the proposed adaptive control scheme and the conventional PID controller is compared. The simulation results indicate that the conventional PID controller is unable to retrieve the desired current during short circuit phase and arcing phase. Nevertheless, the proposed MRAC for CMT process successfully maintains the welding current at the setpoint when subjected to arcing phases and short circuit respectively, while ensuring arc stability. The experimental validation is carried out in the CMT welding set up using the designed MRAC. The experimental results emphasize that the MRAC improves the welding performance by yielding good weld joints swiftly and enhanced quality besides minimizing the design complexities. 相似文献
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Farzad Pourboghrat 《Journal of Intelligent and Robotic Systems》1990,3(1):73-85
A new adaptive control architecture for the intelligent control of robotic manipulators is developed. The design is capable of utilizing external sensory information for the robot control. To achieve this, first a model reference adaptive control (MRAC) is developed which can be applied to a robot arm in the task space. Then the concept of virtual adaptive model is defined, which is used to formulate a maneuvering strategy in response to the external information. Finally, the virtual model provides the modified reference signals to the MRAC system to control the corresponding modified motion of the robot in the environment. The design does not require any knowledge about the dynamic parameters of the robot or that of the environment. 相似文献
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Girish Chowdhary Maximilian Mühlegg Eric Johnson 《International journal of control》2013,86(8):1583-1603
In model reference adaptive control (MRAC) the modelling uncertainty is often assumed to be parameterised with time-invariant unknown ideal parameters. The convergence of parameters of the adaptive element to these ideal parameters is beneficial, as it guarantees exponential stability, and makes an online learned model of the system available. Most MRAC methods, however, require persistent excitation of the states to guarantee that the adaptive parameters converge to the ideal values. Enforcing PE may be resource intensive and often infeasible in practice. This paper presents theoretical analysis and illustrative examples of an adaptive control method that leverages the increasing ability to record and process data online by using specifically selected and online recorded data concurrently with instantaneous data for adaptation. It is shown that when the system uncertainty can be modelled as a combination of known nonlinear bases, simultaneous exponential tracking and parameter error convergence can be guaranteed if the system states are exciting over finite intervals such that rich data can be recorded online; PE is not required. Furthermore, the rate of convergence is directly proportional to the minimum singular value of the matrix containing online recorded data. Consequently, an online algorithm to record and forget data is presented and its effects on the resulting switched closed-loop dynamics are analysed. It is also shown that when radial basis function neural networks (NNs) are used as adaptive elements, the method guarantees exponential convergence of the NN parameters to a compact neighbourhood of their ideal values without requiring PE. Flight test results on a fixed-wing unmanned aerial vehicle demonstrate the effectiveness of the method. 相似文献