| 引用本文: | 吴伟,王昕,王振雷.输入饱和的非线性系统多模型二阶段自适应控制器设计[J].控制理论与应用,2020,37(5):1166~1177.[点击复制] |
| Wu Wei,WANG Xin,WANG Zhen-lei.Design of multiple-model second level adaptive controller for a class of asymmetric saturation actuators nonlinear system[J].Control Theory and Technology,2020,37(5):1166~1177.[点击复制] |
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| 输入饱和的非线性系统多模型二阶段自适应控制器设计 |
| Design of multiple-model second level adaptive controller for a class of asymmetric saturation actuators nonlinear system |
| 摘要点击 1460 全文点击 691 投稿时间：2019-03-16 修订日期：2019-10-22 |
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| DOI编号 10.7641/CTA.2019.90140 |
| 2020,37(5):1166-1177 |
| 中文关键词 多模型 离散非线性 二阶段自适应 非对称饱和 暂态性能 |
| 英文关键词 multiple models discrete nonlinear systems second level adaptation asymmetric saturation actuators transient performance |
| 基金项目 国家自然科学基金项目(61673268, 61890933, 61590922, 61703164), 国家杰出青年科学基金项目(61725301), 中央高校基本科研业务费专项资金 项目资助. |
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| 中文摘要 |
| 针对一类输入受限的非线性离散时间系统, 设计二阶段自适应控制器. 根据先验知识, 确定参数空间, 在q
个未知参数组成的参数空间的边界处建立q+1个自适应模型, 将q+1个模型根据自适应系数组合为虚拟模型. 基于
虚拟模型, 通过backstepping方法, 设计控制器, 采用高斯误差函数近似非对称饱和特性并给出了收敛性证明, 得到
系统的信号为半全局一致最终有界. 最后进行数值仿真, 相比于传统自适应控制, 该模型能够更快地逼近真实参数,
在执行器非对称饱和特性下能够加快系统的响应速度, 减小暂态误差, 最终的稳态误差收敛于一个较小的紧集, 并
且对船舶航向控制系统进行了仿真, 取得了良好的控制效果. |
| 英文摘要 |
| A second level adaptive controller is designed for a class of nonlinear discrete-time systems subject to input
asymmetric saturation. Gauss error function is used to approximate the asymmetric saturation characteristics of actuators.
According to the prior knowledge, the parameter space is determined, q+1 adaptive models are built at the boundary of the
parameter space composed of q unknown parameters. According to the adaptive coefficient, the q+1 models are combined
into a virtual model. Based on the virtual model, the controller is designed by backstepping method, and the stability proof
is given. It is proved that under this controller, the signals of the system can be guaranteed to be semi-globally uniform
and ultimately bounded. Finally, numerical simulation is carried out. Compared with the traditional adaptive control, the
model can approach the real parameters more quickly. Under the asymmetric saturation of actuators, the response speed
of the system can be accelerated, the transient error can be reduced, and the final steady-state error converges to a smaller
compact set. The ship course control system is simulated and achieved good control effect. |
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