共查询到20条相似文献,搜索用时 15 毫秒
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This paper is concerned with the problem of adaptive fuzzy decentralised output-feedback control for a class of uncertain stochastic nonlinear pure-feedback large-scale systems with completely unknown functions, the mismatched interconnections and without requiring the states being available for controller design. With the help of fuzzy logic systems approximating the unknown nonlinear functions, a fuzzy state observer is designed estimating the unmeasured states. Therefore, the nonlinear filtered signals are incorporated into the backstepping recursive design, and an adaptive fuzzy decentralised output-feedback control scheme is developed. It is proved that the filter system converges to a small neighbourhood of the origin based on appropriate choice of the design parameters. Simulation studies are included illustrating the effectiveness of the proposed approach. 相似文献
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TONG ShaoCheng & LI YongMing 《中国科学:信息科学(英文版)》2010,(2):307-324
In this paper, an adaptive fuzzy output feedback control approach based on backstepping design is proposed for a class of SISO strict feedback nonlinear systems with unmeasured states, nonlinear uncertainties, unmodeled dynamics, and dynamical disturbances. Fuzzy logic systems are employed to approximate the nonlinear uncertainties, and an adaptive fuzzy state observer is designed for the states estimation. By combining backstepping technique with the fuzzy adaptive control approach, a stable adaptive fuzzy... 相似文献
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This paper is concerned with the problem of adaptive fuzzy output tracking control for a class of nonlinear pure-feedback stochastic systems with unknown dead-zone. Fuzzy logic systems in Mamdani type are used to approximate the unknown nonlinearities, then a novel adaptive fuzzy tracking controller is designed by using backstepping technique. The control scheme is systematically derived without requiring any information on the boundedness of dead-zone parameters (slopes and break-points) and the repeated differentiation of the virtual control signals. The proposed adaptive fuzzy controller guarantees that all the signals in the closed-loop system are bounded in probability and the system output eventually converges to a small neighbourhood of the desired reference signal in the sense of mean quartic value. Simulation results further illustrate the effectiveness of the proposed control scheme. 相似文献
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Gang Sun Zhouhua Peng Hao Wang Weiyao Lan Mingxin Wang 《International journal of control》2013,86(5):912-922
In this paper, a robust adaptive neural control design approach is presented for a class of uncertain pure-feedback nonlinear systems. To reduce the complexity of the both controller structure and computation, only one neural network is used to approximate the lumped unknown function of the system at the last step of the recursive design process. By this approach, the complexity growing problem existing in conventional methods can be eliminated completely. Stability analysis shows that all the closed-loop system signals are uniformly ultimately bounded, and the steady state tracking error can be made arbitrarily small by appropriately choosing control parameters. Simulation results demonstrate the effectiveness and merits of the proposed approach. 相似文献
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In this paper, a new adaptive fuzzy backstepping control approach is developed for a class of nonlinear systems with unknown time-delay and unmeasured states. Using fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy state observer is designed for estimating the unmeasured states. On the basis of the state observer and applying the backstepping technique, an adaptive fuzzy observer control approach is developed. The main features of the proposed adaptive fuzzy control approach not only guarantees that all the signals of the closed-loop system are semiglobally uniformly ultimately bounded, but also contain less adaptation parameters to be updated on-line. Finally, simulation results are provided to show the effectiveness of the proposed approach. 相似文献
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Changjiang Xi Jiuxiang Dong Qingling Zhang 《International journal of systems science》2017,48(12):2463-2472
In this paper, the problem of adaptive fuzzy tracking control is investigated for switched nonlinear pure-feedback systems under arbitrary switching. By utilising mean value theorem, the considered pure-feedback systems are transformed into a class of switched nonlinear strict-feedback systems. Compared with the existing results, a priori knowledge of control directions is not required. On the other hand, differing from the existing literatures, the piecewise switched adaptive laws are designed to replace the common adaptive laws, which can reduce the conservativeness. Furthermore, the difficulties from how to deal with the unknown control directions and design common virtual control are overcome. Based on the backstepping technique and the common Lyapunov functions, an adaptive fuzzy control scheme is developed to guarantee that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded with the tracking error converging to a neighbourhood of the origin. Simulation results are provided to demonstrate the effectiveness of the proposed techniques. 相似文献
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Mingzhe Hou Zongquan Deng Guangren Duan 《International journal of systems science》2017,48(10):2137-2145
An adaptive control approach is proposed to solve the globally asymptotic state stabilisation problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback nonlinear system under consideration is with nonlinearly parameterised uncertainties and possibly unknown control coefficients. Based on the parameter separation technique, a novel backstepping controller is designed by adopting the adaptive high gain idea. The proposed control approach could avoid the drawbacks of the approximation-based approaches since no estimators are needed to estimate the virtual and the actual controllers. In addition, it could guarantee globally asymptotic state stabilisation even though there exist nonlinearly parameterised uncertainties in the considered system while comparing to the existing approximation-free approaches. A numerical and a realistic examples are employed to demonstrate the effectiveness of the proposed control method. 相似文献
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针对一类非仿射输入纯反馈非线性系统,提出了一种动态面控制算法.不同于运用中值定理,该算法通过引入一个辅助系统,将原系统转化为输入仿射系统,结合动态面控制与反推设计法,消除了反推法中"计算膨胀"问题.所设计控制器保证了闭环系统所有信号半全局一致最终有界,且通过选择合适的设计参数可使跟踪误差收敛到原点的一个小邻域内.一个仿真实例进一步验证了所提控制算法的有效性. 相似文献
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一类纯反馈非线性系统的反推控制 总被引:1,自引:0,他引:1
研究了一类纯反馈非线性系统的输出跟踪问题.通过引入一个新的坐标变换,提出了一种基于反推设计的状态反馈控制算法.所得控制算法不仅保证了系统跟踪误差全局渐近稳定,同时使得闭环系统所有信号有界.最后,一个仿真实例验证了本文控制算法的有效性. 相似文献
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Yan-Jun Liu Shao-Cheng Tong Wei Wang Yong-Ming Li 《International Journal of Control, Automation and Systems》2009,7(4):681-690
A direct adaptive fuzzy control algorithm is developed for a class of uncertain SISO nonlinear systems. In this algorithm,
it doesn’t require to assume that the system states are measurable. Therefore, it is needed to design an observer to estimate
the system states. Compared with the numerous alternative approaches with respect to the observer design, the main advantage
of the developed algorithm is that on-line computation burden is alleviated. It is proven that the developed algorithm can
guarantee that all the signals in the closed-loop system are uniformly ultimately bounded and the tracking error converges
to a small neighborhood around zero. The simulation examples validate the feasibility of the developed algorithm.
Recommended by Editorial Board member Zhong Li under the direction of Editor Young-Hoon Joo. This work is supported by National
Natural Science Foundation of China under grant 60674056, 60874056, and the Foundation of Educational Department of Liaoning
Province (2008312).
Yan-Jun Liu received the B.S. degree in Applied Mathematics from Shenyang University of Technology in 2001. He received the M.S. degree
in Control Theory and Control Engineering from Shenyang University of Technology in 2004 and the Ph.D. degree in Control Theory
and Control Engineering from Dalian University of Technology, China, in 2007. His research interests include fuzzy control
theory, nonlinear control and adaptive control.
Shao-Cheng Tong received the B.S. degree in Department of Mathematics from Jinzhou Normal College, China, in 1982. He received the M.S. degree
in Department of Mathematics from Dalian Marine University in 1988 and the Ph.D. degree in Control Theory and Control Engineering
from Northeastern University, China, in 1997. His research interests include fuzzy control theory, nonlinear control, adaptive
control, and system identification etc.
Wei Wang received the B.S. degree in Department of Automation from Northeastern University, China, in 1982. He received the M. S.
degree in Department of Automation from Northeastern University in 1984 and the Ph.D. degree in Department of Automation from
Northeastern University, China, in 1988. His research interests include adaptive predictive control, intelligent control,
and production scheduling method etc.
Yong-Ming Li received the B.S. degree in Applied Mathematics from Liaoning University of Technology in 2004. He received the M.S. degree
in Applied Mathematics from Liaoning University of Technology in 2007. His research interests include fuzzy control theory,
nonlinear control and adaptive control. 相似文献
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针对一类单输入单输出不确定非线性系统,提出一种稳定的自适应模糊控制方法,该方法不需要系统状态可测的条件,而是通过设计模糊状态观测器来估计系统的状态,证明了所提出的控制方法不但能使闭环系统稳定,而且输出误差可取得H∞跟踪控制性能,仿真结果进一步验证了该控制算法的实用性和有效性。 相似文献
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An observer-based adaptive fuzzy control is presented for a class of nonlinear systems with unknown time delays. The state observer is first designed, and then the controller is designed via the adaptive fuzzy control method based on the observed states. Both the designed observer and controller are independent of time delays. Using an appropriate Lyapunov-Krasovskii functional, the uncertainty of the unknown time delay is compensated, and then the fuzzy logic system in Mamdani type is utilized to approximate the unknown nonlinear functions. Based on the Lyapunov stability theory, the constructed observer-based controller and the closed-loop system are proved to be asymptotically stable. The designed control law is independent of the time delays and has a simple form with only one adaptive parameter vector, which is to be updated on-line. Simulation results are presented to demonstrate the effectiveness of the proposed approach. 相似文献
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MEI Rong WU QingXian & JIANG ChangSheng Automation College Nanjing University of Aeronautics Astronautics Nanjing China Criminal Investigation Department Nanjing Forest Police College Nanjing 《中国科学:信息科学(英文版)》2010,(6):1201-1215
In this paper, a novel robust adaptive control scheme for a class of uncertain nonlinear systems is proposed using disturbance observer and backstepping method.Firstly, a disturbance observer is developed using radial basis function(RBF) neural network.The parameter updated law of the RBF neural network is given for monitoring subsystem disturbance well.The robust adaptive control scheme is then presented with backstepping method based on the designed disturbance observer.Semiglobal uniform ultimate bounded... 相似文献
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动态不确定非线性系统直接自适应模糊backstepping控制 总被引:3,自引:0,他引:3
对一类单输入单输出动态不确定非线性系统,提出一种直接自适应模糊backstepping和小增益相结合的控制方法.设计中,首先用模糊逻辑系统逼近虚拟控制器:其次把自适应模糊控制和backstepping控制设计技术相结合.给出了直接自适应模糊控制设计方法.最后基于Lyapunov函数和小增益方法证明了整个闭环系统的稳定性.仿真实例进一步验证了所提方法的有效性. 相似文献
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This paper investigates the problem of full state constraints-based adaptive control for a class of switched nonlinear pure-feedback systems under arbitrary switchings. First, the switched pure-feedback system is transformed into a switched strict-feedback system with non-affine terms based on the mean value theorem. Then, by exploiting the common Lyapunov function (CLF) method, the Barrier Lyapunov function method and backstepping, state feedback controllers of individual subsystems and a common Barrier Lyapunov function (CBLF) are constructed, which guarantee that all signals in the closed-loop system are global uniformly bounded under arbitrary switchings, and full state constraints are not violated. Furthermore, the tracking error can converge to a bounded compact set. Two examples, which include a single-link robot as a practical example, are provided to demonstrate the effectiveness of the proposed design method. 相似文献
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In this paper, an adaptive neural network tracking control approach is proposed for a class of switched stochastic pure-feedback nonlinear systems with backlash-like hysteresis. In the design procedure, an affine variable is constructed, which avoids the use of the mean value theorem, and the additional first-order low-pass filter is employed to deal with the problem of explosion of complexity. Then, a common Lyapunov function and a state feedback controller are explicitly obtained for all subsystems. It is proved that the proposed controller that guarantees all signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error remains an adjustable neighbourhood of the origin. Finally, simulation results show the effectiveness of the presented control design approach. 相似文献