基于神经网络MIMO非线性系统自适应输出反馈控制  

Neural network based adaptive output feedback control for MIMO nonlinear systems

作　　者：朱永红[1] 姜长生[1] 费树岷[2] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]东南大学自动化研究所,江苏南京210096

出　　处：《控制理论与应用》2005年第1期23-28,34,共7页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60174045).

摘　　要：针对一类具有对象不确定和外部干扰的MIMO(多输入多输出)非线性系统提出了自适应鲁棒输出跟踪控制方案.使用了高斯径向基神经网络自适应补偿对象非线性,高增益观测器被用来估计不能直接测量的输出导数.此方法所设计的控制器不仅保证闭环系统稳定,而且所有状态有界以及跟踪误差一致终值有界.仿真结果充分表明了该方案的有效性和可行性.An adaptive robust output feedback control scheme is proposed for a class of multi-input multi-output nonlinear systems with plant uncertainties and external disturbances.The scheme employs a network of Gaussian radial basis functions to adaptively compensate for the plant nonlinearities.A high-gain observer is used to estimate the derivatives of outputs which can not be measured directly.Under mild assumptions,the closed-loop system is proven to be stable.The controller designed can guarantee that all the states in the closed-loop system are bounded and all the tracking errors are uniformly ultimately bounded .Simulation results demonstrate the effectiveness and feasibility of the proposed scheme.

关 键 词：MIMO非线性系统 自适应鲁棒控制 高增益观测器 神经网络 输出反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]