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| 具有输入齿隙的一类非线性不确定系统自适应鲁棒控制 | |
| 引用本文： | 郭健,姚斌,吴益飞,陈庆伟.具有输入齿隙的一类非线性不确定系统自适应鲁棒控制[J].控制与决策,2010,25(10):1580-1584. |
| 作者姓名： | 郭健 姚斌 吴益飞 陈庆伟 |
| 作者单位： | 1. 南京理工大学,自动化学院,南京,210094 2. 普度大学,机械工程学院,西拉法叶,IN47907 |
| 基金项目： | 教育部博士点基金,江苏省科技支撑计划项目,空间智能控制技术国家级重点实验室项目 |
| 摘 要： | 针对一类具有未知输入齿隙、参数不确定以及未建模动态和干扰的非线性系统,设计了自适应鲁棒控制器.将齿隙非线性模型等价表示为具有有界建模误差的全局线性化模型,在此基础上设计了包含自适应模型补偿、反馈稳定和鲁棒反馈3部分的自适应鲁棒控制器,并给出了系统动态跟踪误差和稳态误差指标.理论分析证明,闭环控制系统信号有界且跟踪误差在任意期望的精度范围内,仿真研究验证了所提出方法的有效性. |
| 关 键 词： | 非线性系统 齿隙 自适应控制 鲁棒控制 |
| 收稿时间： | 2009/9/14 0:00:00 |
| 修稿时间： | 2010/1/14 0:00:00 |
Adaptive robust control for a class of nonlinear uncertain system with input backlash |
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| GUO Jian,YAO Bin,WU Yi-fei,CHEN Qing-wei.Adaptive robust control for a class of nonlinear uncertain system with input backlash[J].Control and Decision,2010,25(10):1580-1584. | |
| Authors: | GUO Jian YAO Bin WU Yi-fei CHEN Qing-wei |
| Abstract: | algorithm is developed for a class of nonlinear dynamic system with unknown input backlash, parametric uncertainties, un-modeled dynamics and uncertain disturbances. A globally linearly parameterized model with bounded modelling error for backlash is presented. The adaptive robust controller is designed, which is composed of model compensation, feedback stabilization and robust feedback terms. The transient dynamic error and steady state error performance are given. The proposed adaptive robust control law can ensure that all closed-loop signals are bounded and achieve the tracking within the desired precision. Simulations results show the effectiveness of the controller. |
| Keywords: | Nonlinear system|Backlash|Adaptive control|Robust control |
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