一类不确定性系统的局部化边界在线近似控制  

Online Approximation Control with Localized Bounds for a Class of Uncertainty Systems

作　　者：王琦 

机构地区：[1]河南财政金融学院现代教育技术中心,河南郑州451464

出　　处：《河南科技大学学报（自然科学版）》2017年第6期44-48,共5页Journal of Henan University of Science And Technology:Natural Science

基　　金：国家杰出青年科学基金项目(61525301)

摘　　要：针对非线性控制方法在含不确定性的非线性系统跟踪控制方面存在的计算量大、结构复杂、稳定性证明困难等问题,提出了一种新的局部化边界在线近似控制方法。设计了近似函数在线近似非线性系统的未知不确定性,将不确定性的影响进行量化,并引入控制系统加以抑制。同时设计了固有误差的近似函数,以确定固有近似误差上界,消除固有近似误差影响。通过数值仿真算例,证明了所提控制方法具有优异的全局稳定性和快速性,特别是跟踪误差精度的量级可达到10^(-3)。To decrease the computation,simplify the structure and give the proof of the stability in the control of the uncertainty nonlinear systems,a new online approximation control method with localized bounds for a class of uncertainty systems was presented. The approximation functions were designed for online approximating the uncertainty of the nonlinear systems. The influence of the uncertainty of the nonlinear systems was quantified,and was added to the control systems to be suppressed. At the same time,the approximation functions of the inherent errors were designed to confirm the upper bound of the inherent approximation errors and eliminate the influence of the inherent approximation errors. The stability and convergence properties of control laws were proved by the simulation results. The tracking precision reackes the scale of 10^(-3).

关 键 词：在线近似 局部化边界 非线性系统 不确定 控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]