摘要
针对一类非线性离散时间动态系统,提出了一种新的非线性自适应切换控制方法.该方法首先把非线性项分解为前一拍可测部分与未知增量和的形式,并充分利用被控对象的大数据信息和知识,把非线性项前一拍可测数据与未知增量都用于控制器设计,分别设计了线性自适应控制器,带有非线性项前一拍可测数据补偿的非线性自适应控制器以及带有非线性项未知增量估计与补偿的非线性自适应控制器.三个自适应控制器通过切换函数和切换规则来协调控制被控对象.既保证了闭环系统的稳定性,同时又提高了闭环系统的性能.分析了闭环切换系统的稳定性和收敛性.最后,通过水箱液位系统的物理实验,实验结果验证了所提算法的有效性.
In this paper,a new nonlinear adaptive switching control method is proposed for a class of nonlinear discrete time dynamical systems.The proposed method firstly decomposes the nonlinear term into the form of the measurable part at the previous sampling instant plus its unknown increment part,and makes full use of the big data information and knowledge of the controlled plant,both the measurable part and the unknown increment of the nonlinear term are used in the controller design,the linear adaptive controller,nonlinear adaptive controller with nonlinear term measurable data compensation and nonlinear adaptive controller with nonlinear unknown increment estimation are designed respectively.Three adaptive controllers are used to the controlled plant coordinately through switching functions and switching rules,which not only ensures the stability of the closed-loop system but also improves the performance of the closed-loop system.The stability and convergence of the closedloop switching system are analyzed.Finally,through the physical experiment of the level control system of the tank,the experimental results verify the effectiveness of the proposed algorithm.
作者
牛宏
陶金梅
张亚军
NIU Hong;TAO Jin-Mei;ZHANG Ya-Jun(College of Science,Liaoning Shihua University,Fushun 113001;State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110819)
出处
《自动化学报》
EI
CSCD
北大核心
2020年第11期2359-2366,共8页
Acta Automatica Sinica
基金
国家自然科学基金(61773107,61866021,61991402,61890924,61833004,61973202)
CSC(201808210410)资助。
