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Robust adaptive control of nonlinear systems with guaranteed error bounds.

机译：具有保证误差范围的非线性系统的鲁棒自适应控制。

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摘要

The design of stabilizing controllers for nonlinear plants with unknown nonlinearities is a challenging problem. The inability to identify exactly the nonlinearities on-line or off-line motivates the design of stabilizing controllers based on approximations or on approximate estimates of the plant nonlinearities. The price paid in such case, could be lack of theoretical guarantees for global stability, and non-zero tracking or regulation error at steady state.; In this dissertation several nonlinear robust adaptive control schemes are designed and analyzed for a class of single-input single-output (SISO) nonlinear systems, a class of multi-input multi-output (MIMO) nonlinear systems, and a class of large-scale MIMO nonlinear systems with unknown nonlinearities. We use single layer neural networks as approximation models of the unknown nonlinearities. The proposed control schemes provide a general approach to bypass the stability problems where the estimated plants become uncontrollable without any restrictive assumptions. The controllers are continuous and guarantee closed loop semi-global stability and convergence of the tracking error to a small residual set. The semi-global stability is characterized by a region of attraction whose size depends on the compact sets used to approximate the unknown nonlinearities. The size of the residual tracking error can be specified a priori and is guaranteed by choosing certain design parameters. Several procedures for choosing these parameters are presented. The properties of the proposed control schemes are demonstrated using several examples that include control of a hypersonic aircraft.
机译：对于具有未知非线性的非线性植物，稳定控制器的设计是一个具有挑战性的问题。无法准确地在线或离线地识别非线性，会基于工厂非线性的近似值或近似估计值来激励稳定控制器的设计。在这种情况下，付出的代价可能是缺乏全球稳定性的理论保证，以及稳态下的非零跟踪或调节误差。本文针对一类单输入单输出（SISO）非线性系统，一类多输入多输出（MIMO）非线性系统和一类大输入量非线性系统设计和分析了几种非线性鲁棒自适应控制方案。具有未知非线性的大规模MIMO非线性系统。我们使用单层神经网络作为未知非线性的近似模型。所提出的控制方案为绕过稳定性问题提供了一种通用方法，在这种情况下，没有任何限制性假设的情况下，估计工厂变得不可控制。控制器是连续的，可确保闭环半全局稳定性，并将跟踪误差收敛到较小的残差集。半全局稳定性的特征在于吸引区域，其大小取决于用于逼近未知非线性的紧集。残余跟踪误差的大小可以事先确定，并通过选择某些设计参数来保证。介绍了选择这些参数的几种方法。使用包括对超音速飞机进行控制的几个示例来证明所提出的控制方案的特性。

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  • 作者

    Xu, Haojian.;

  • 作者单位

    University of Southern California.;

  • 授予单位 University of Southern California.;
  • 学科 Engineering Electronics and Electrical.
  • 学位 Ph.D.
  • 年度 2002
  • 页码 p.2848
  • 总页数 167
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 无线电电子学、电信技术;
  • 关键词

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