Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach

Song Y.D.; Mitchell T.L.

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Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach

机译：用补偿逆动力学方法控制一类非线性不确定系统

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The tracking control problem of a class of nonlinear systems via inverse dynamics method is addressed. The motivation for the study stems from the need to control practical systems arising from aerospace and mechanical engineering. Because modeling uncertainties and external disturbances are always present in these systems, inverse dynamics technique is not applicable directly. A compensated inverse dynamics approach is proposed to account for the effect of uncertainties. The compensation is achieved by adaptive and robust schemes. Application of the proposed strategy to the vibration suppression of a two-bay flexible truss structure is presented.

机译：通过逆动力学方法解决了一类非线性系统的跟踪控制问题。该研究的动机源于对航空航天和机械工程产生的实际系统的控制需求。由于这些系统中始终存在建模不确定性和外部干扰，因此逆动力学技术不可直接应用。提出了一种补偿逆动力学方法来解决不确定性的影响。补偿是通过自适应和鲁棒方案实现的。提出了该策略在两托架柔性桁架结构减振中的应用。

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《IEEE Transactions on Automatic Control》 |1994年第9期|P.1866-1871|共6页
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Song Y.D.; Mitchell T.L.;
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正文语种 eng
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专利

1. Control of a class of nonlinear uncertain systems via compensatedinverse dynamics approach [J] . Song Y.D., Mitchell T.L., Lai H.Y. IEEE Transactions on Automatic Control . 1994,第9期

机译：一类非线性不确定系统的补偿动力学方法
2. Adaptive fuzzy backstepping control for a class of uncertain nonlinear strict-feedback systems based on dynamic surface control approach [J] . Peng Jinzhu, Dubay Rickey Expert Systems with Application . 2019,第APRa期

机译：基于动态表面控制方法的一类不确定非线性严格反馈系统的自适应模糊反推控制
3. Adaptive Inverse Dynamics Four-Channel Control of Uncertain Nonlinear Teleoperation Systems [J] . Xia Liu, Mahdi Tavakoli Advanced Robotics: The International Journal of the Robotics Society of Japan . 2011,第13a14期

机译：不确定非线性遥操作系统的自适应逆动力学四通道控制
4. Adaptive Dynamic Surface Control of a Class of Uncertain Nonlinear Systems in Pure-Feedback Form Using Fuzzy Backstepping Approach [C] . Zeng-Guang Hou, An-Min Zou, Fang-Xiang Wu, International Conference on Automation Science and Engineering . 2008

机译：采用模糊反馈方法对一类不确定非线性系统的自适应动态表面控制
5. Inverse optimal control for dynamic neural networks (DNN) with applications to control design for a class of nonlinear systems. [D] . Liu, Ziqian. 2005

机译：动态神经网络（DNN）的逆最优控制及其在一类非线性系统的控制设计中的应用。
6. Adaptive control for a class of nonlinear complex dynamical systems with uncertain complex parameters and perturbations [O] . Jian Liu, Kexin Liu, Shutang Liu -1

机译：一类不确定复杂参数和扰动的非线性复杂动力系统的自适应控制
7. Robust nonlinear generalised predictive control for a class of uncertain nonlinear systems via an integral sliding mode approach [O] . Errouissi Rachid, Yang Jun, Chen Wen-Hua, 2016

机译：一类不确定非线性系统的整体滑模鲁棒非线性广义预测控制
8. Nonlinear Control Techniques for Dynamical Systems with Uncertain Parameters [R] . Ghanem, R. G., Bujakov, M. I. 1996

机译：不确定参数动力系统的非线性控制技术

Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach

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