一种具有噪声干扰的MIMO非线性时变系统自适应控制  

An adaptive control for MIMO non-linear time-varying systems with noise disturbances

作　　者：张超 孙启鸣 姜红 ZHANG Chao;SUN Qi-ming;JIANG Hong(Department of Computer Science and Technology,Henan Institute of Technology,Xinxiang 453003,China;Key Laboratory of Measurement and Control of Complex Systems of Engineering of MOE,Southeast University,Nanjing 210096,China;Planning Department,Zhengzhou Suda Industry Machinery Service Co.,Ltd,Zhengzhou 450013,China)

机构地区：[1]河南工学院计算机科学与技术系,河南新乡453003 [2]东南大学复杂工程系统测量与控制教育部重点实验室,南京210096 [3]郑州速达工业机械服务股份有限公司规划部,郑州450013

出　　处：《控制与决策》2020年第5期1113-1122,共10页Control and Decision

基　　金：河南省重点研发与推广项目(182102210034,182102210258,182102210261);河南工学院高层次人才科研启动基金项目(KQ1863)。

摘　　要：针对含噪声多输入多输出不确定非线性时变系统,提出一种基于多维泰勒网(MTN)的自适应控制方案,其中两个MTN分别用来实现优化控制和非线性滤波.首先,提出多维泰勒网控制器(MTNC)以实现实时跟踪控制.将滤波输出与期望值之间的闭环误差作为MTNC的输入,根据系统不确定因素引起的误差,基于稳定的学习率,设计线性再励的自适应变步长算法以快速更新MTNC权值.其次,提出多维泰勒网滤波器(MTNF)以消除测量噪声.由于定义了测量值与MTNF输出之间误差的Lyapunov函数,自适应MTN滤波系统兼具基于Lyapunov理论的自适应滤波(LAF)和MTN的特有性质.最后,通过在Lyapunov意义下选取适当的权值更新律,可使MTNF输出渐近地收敛到期望信号,并证明了滤波器的收敛性和稳定性.仿真结果验证了所提出方案的有效性.An adaptive control scheme based on the multi-dimensional Taylor network(MTN)is proposed for multi-input multi-output(MIMO)non-linear uncertain time-varying systems with noise disturbances,and two MTNs are used to implement optimal control and nonlinear filtering respectively.Firstly,the MTN controller(MTNC)is proposed to realize real-time tracking control,and the closed-loop errors between the filtered outputs and expected values are taken as the inputs of the MTNC.According to the errors caused by the system uncertainties and based on the stable learning rate,the adaptive variable step size algorithm via linear reinforcement is designed to update the MTNC’s weights rapidly.Then,the MTN filter(MTNF)is proposed to eliminate the measurement noises.Since the Lyapunov function of the errors between the measured values and MTNF outputs is defined,the adaptive MTN filtering system has the unique properties of both the MTN and Lyapunov-theory-based adaptive filtering(LAF)system.The MTNF outputs can be asymptotically convergent to the desired signals by selecting the appropriate weight law in the sense of Lyapunov.The convergence and stability of the MTNF are proved.Finally,the simulation results verify the effectiveness of the proposed scheme.

关 键 词：多输入多输出非线性时变系统 噪声干扰 自适应控制 非线性滤波 多维泰勒网 

分 类 号：TB391[一般工业技术—材料科学与工程]