非线性系统的改进型自适应积分控制算法  

Improved adaptive integral control algorithm for nonlinear system

作　　者：段其昌[1] 曾勇[1] 段盼[2] 雷蕾[1] 

机构地区：[1]重庆大学自动化学院,重庆400044 [2]重庆大学电气工程学院,重庆400044

出　　处：《计算机应用研究》2010年第12期4492-4494,共3页Application Research of Computers

摘　　要：针对传统非线性系统的积分控制,为减小稳态跟踪误差和防止积分饱和,设计了一种改进型的自适应积分控制。采用反馈线性化消去系统的非线性,在初始误差较大的条件下,引入惩罚函数根据误差动态调节比例系数和积分系数可抑制较大的超调量。应用Lyapunov稳定性理论,证明了在外部扰动有界的条件下,闭环控制系统一致最终有界。闭环系统稳定性的理论分析和仿真结果都验证了上述策略的可行性。For the conventional integral control for nonlinear systems,designed an improved adaptive integral control method to reduce the steady-state tracking error and prevent integral saturation. The method used feedback linearization to eliminate nonlinearity,and adjusted the proportional factor and integral factor corresponding to the error by introducing penalty functions,then could avoid the large overshoots due to the large initial errors. By using the Lyapunov synthesis approach,it is proved that the closed-loop system is uniformly ultimately bounded in the presence of bounded disturbance force. Theoretical analysis on the stability of the closed-loop system and simulation results show the feasibility of the proposed scheme.

关 键 词：非线性系统 可变参数 自适应控制 改进型积分 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]