带有执行器非线性的不确定非线性系统的自适应控制

项目名称： 带有执行器非线性的不确定非线性系统的自适应控制

项目编号： No.61473171

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 张正强

作者单位： 曲阜师范大学

项目金额： 80万元

中文摘要： 针对带有执行器非线性的不确定非线性系统或非线性时滞系统，采用自适应控制方法，研究具有零跟踪误差的渐近跟踪控制问题。考虑非对称死区、非线性死区、扇区非线性及同时含有扇区非线性和死区的执行器非线性模型，假设系统参数、执行器非线性参数和时滞参数未知或某些参数的符号未知。通过建立执行器非线性的新的数学描述并引入适当的模型变换，提出自适应执行器非线性补偿方案。构造新颖的Lyapunov函数或Lyapunov-Krasovskii泛函，在执行器非线性或时滞存在的情况下进行稳定性分析。主要内容包括： (1)研究执行器非线性模型的统一化数学描述问题； (2)研究具有零跟踪误差的直接自适应指数收敛补偿控制问题； (3)研究渐近补偿控制器的Backstepping设计问题； (4)研究带有执行器非线性和时滞的非线性系统的渐近自适应跟踪问题； (5)研究设计的补偿控制算法在弹簧质量阻尼系统及其他工程领域的应用。

中文关键词： 自适应控制；执行器非线性；时滞；反推；渐近跟踪

英文摘要： The problem of asymptotic tracking control with zero tracking error is addressed for uncertain nonlinear systems or nonlinear time-delay systems with actuator nonlinearity by employing the adaptive control approach. The actuator nonlinearities under consideration include nonsymmetric dead-zone, nonlinear dead-zone, sector nonlinearity and nonlinear input containing sector nonlinearity and dead-zone. The parameters in the controlled system, actuator nonlinearity and time-delay nonlinearity or the signs of some parameters are assumed to be unknown. By the establishment of new mathematical descriptions for actuator nonlinearities and the introduction of appropriate model transformations, adaptive actuator nonlinearity compensation schemes are proposed. In the presence of actuator nonlinearity or time delay, the novel Lyapunov function or Lyapunov-Krasovskii functional is constructed, and the stability of the closed-loop system is analysized. The main research contents include: (1) the problem of unified mathematical description for actuator nonlinearities; (2) the problem of direct adaptive exponential compensation control with zero tracking error; (3) the problem of backstepping design for asymptotic compensation controller; (4) the problem of asymptotic adaptive tracking control for nonlinear systems with actuator nonlinearity and time delays; (5) the applications of the designed compensation control algorithms in the spring, mass and damper system and other engineering fields.

英文关键词： adaptive control;actuator nonlinearity;time delay;backstepping;asymptotic tracking