| 引用本文: | 董世建,周星星,牛大鹏,唐加乐.具有输入约束的非线性积分系统无模型自适应控制[J].控制理论与应用,2025,42(7):1469~1474.[点击复制] |
| DONG Shi-jian,ZHOU Xing-xing,NIU Da-peng,TANG Jia-Le.Model-free adaptive control for nonlinear systems with integrating factor and input constraints[J].Control Theory & Applications,2025,42(7):1469~1474.[点击复制] |
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| 具有输入约束的非线性积分系统无模型自适应控制 |
| Model-free adaptive control for nonlinear systems with integrating factor and input constraints |
| 摘要点击 3048 全文点击 278 投稿时间：2023-05-25 修订日期：2025-04-05 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30360 |
| 2025,42(7):1469-1474 |
| 中文关键词 非线性系统 无模型自适应控制 输入约束 跟踪微分器 微分滤波 |
| 英文关键词 nonlinear system model-free adaptive control input constraint tracking differentiator differential filtering |
| 基金项目 中央高校基本科研业务项目(2022QN1048), 国家自然科学基金项目(61903347, 52072343), 江苏省自然科学基金项目(BK20210493)资助. |
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| 中文摘要 |
| 由于难以精确建立具有输入约束的非线性积分系统模型, 限制了基于模型的控制算法实施. 针对存在积分
环节的非线性系统, 通过引入微分滤波器将难以控制的临界不稳定系统转化为等效的非线性稳定系统, 并采用基于
数据驱动技术的无模型自适应控制算法进行控制. 为了解决控制过程中的输入约束问题, 将损失函数转化为具有约
束的二次规划问题进行求解以获取最优控制输入. 同时, 利用跟踪微分器对测量输出信号进行估计以抑制随机测
量噪声对控制器参数求解的影响, 并对所设计的控制算法进行稳定性分析. 最后, 验证了所提出算法的可行性和优
越性. |
| 英文摘要 |
| It is difficult to accurately establish model for nonlinear systems with input constraints and integrating factor,
which may limits the implementation of model-based control algorithms. Considering that the nonlinear system with
integrating factor is difficult to control, the critical unstable system with integrating factor can be transformed into an
equivalent nonlinear stable system by constructing differential filter, and a model-free adaptive control (MFAC) algorithm
based on data-driven technology is used to control the nonlinear system. In order to solve the input constraint problem
in the control process, the loss function is transformed into a constrained quadratic programming problem to obtain the
optimal control input signal. Besides, a tracking differentiator is used to estimate the output signal to suppress the influence
of random measurement noise on the calculation of controller parameters. The stability of the designed control algorithm
is also analyzed in detail. Finally, the feasibility and superiority of the proposed control algorithm are verified. |
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