摘要
应用李亚普诺夫方法与自适应控制原理针对一类非线性PID控制系统提出了一种自整定方法,运用有监督控制和在线调整自适应控制律对PID控制系统的3个控制参数进行在线调整及更新,保证了非线性PID控制系统的闭环稳定性。最后利用该方法控制倒摆系统的运动轨迹问题,仿真结果表明该方法可以获得令人满意的控制性能。
A self-tuning method for a class of nonlinear PID control punov approach and the principle of self-adaptive control. Supervised adaptive control law are used for on-line adjustment and updating of the systems is put forward based on Lyacontrol and on-line adjustment self- three PID control gains, and thus the stability of the close-loop nonlinear PID control system is guaranteed. Finally, the proposed method is employed to control a tracking problem of an inverted pendulum system. The simulation results showed that a satisfactory control performance was achieved.
出处
《电光与控制》
北大核心
2007年第6期82-84,117,共4页
Electronics Optics & Control
