基于神经网络干扰观测器的一类不确定非线性MIMO系统H_∞跟踪控制  

H_∞ tracking control of a class of uncertain nonlinear MIMO systems based on neural network disturbance observer

作　　者：胡慧[1,2] 刘国荣[2] 

机构地区：[1]湖南大学电气与信息工程学院,长沙410082 [2]湖南工程学院,湖南湘潭411101

出　　处：《控制与决策》2009年第3期468-471,476,共5页Control and Decision

基　　金：湖南省自然科学基金项目(05JJ40093);湖南省科技计划项目(2008FJ3029)

摘　　要：针对一类具有未知外部干扰及内部不确定性的非线性MIMO系统,提出了基于神经网络干扰观测器的鲁棒跟踪控制方法,用于降低控制器对干扰的要求.设计了基于神经网络的干扰观测器,以逼近由外部干扰、内部不确定性和子系统的交叉耦合组成的复合干扰.根据Lyapunov稳定性理论的参数更新律及所设计的控制器,保证了系统中所有信号的最终一致有界性,并获得了给定的跟踪性能指标.仿真结果证明了该方法的有效性.This paper presents a robust tracking control approach based on neural network disturbance observer for a class of uncertain nonlinear MIMO systems under the unknown external disturbance and internal uncertainty tO reduce the restrain conditions on the disturbance. The disturbance observer is designed with the neural networks for monitoring the compound disturbance which consists of external disturbance, internal uncertainty and cross-coupling of subsystems. Parameters update laws based on Lyapunov theory and the controller are proposed, which guarantee that all the signals in the system are uniformly ultimately bounded and the given tracking performance index is obtained. Simulation results show the effectiveness of this method.

关 键 词：非线性MIMO系统 干扰观测器 鲁棒控制 神经网络 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]