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作 者:殷春武[1,2] 侯明善[2] 李明翔[2] YIN Chun-wu HOU Ming-shan LI Ming-xiang(School of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China School of Automation, Northwestern Polytechnical University, Xi'an 710129, China)
机构地区:[1]西安建筑科技大学信息与控制工程学院,西安710055 [2]西北工业大学自动化学院,西安710129
出 处:《控制与决策》2017年第10期1879-1886,共8页Control and Decision
基 金:西安建筑科技大学青年基金项目(QN1727);西安建筑科技大学人才基金项目(6040317017)
摘 要:针对控制输入有界的变参数广义高阶非线性系统跟踪控制问题,给出一种多环递归跟踪的鲁棒控制方法.通过分层引入虚拟跟踪器,将高阶系统分解为多个独立子系统;内环虚拟跟踪器使内环输出指数收敛于外环虚拟输入,最内环设计自适应控制器补偿参数摄动和外部干扰,并保证输出指数收敛于外环虚拟输入;多环递归跟踪实现系统输出精确跟踪期望输入,理论证明闭环系统的全局渐近收敛性.数值仿真验证了多环跟踪控制器的可行性和合理性.A multi-loop tracking robust control method is presented for the high-order uncertain nonlinear system with control saturation constraint and varying parameters. Firstly, the high-order nonlinear system is decomposed into some first-order subsystems by hierarchical design virtual tracking controller. Then, the virtual tracking controller ensures that the output of inner loop exponential converge to the virtual input of outer loop, and an adaptive controller is designed for inner loop to compensate the uncertainty which is caused by parameters' perturbation and external disturbance, and to ensure that the output exponential converge to the virtual input. The output of system can accurately track the desired input, by using multi loop recursive tracking. Theoetical analysis proves the global convergence of the closed-loop system.Simulation verifies the feasibility and rationality of the multi loop tracking controller.
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