Recursive Sliding-mode Dynamic Surface Adaptive NN Control with Nonlinear Gains
-
摘要: 针对一类严反馈非线性不确定系统的跟踪控制问题,提出一种非线性增益递归滑模动态面 (Dynamic surface control, DSC)自适应控制方法. 通过设计一个新的非线性增益函数,并构造递归滑模动态面的控制策略和新的Lyapunov函数,同时利用神经网络在线逼近系统不确定项, 该方法有效解决了具有输入饱和约束条件下系统控制精度与动态品质间的矛盾,增强了控制器对其自身参数摄动的非脆弱性. 理论证明了闭环系统所有状态是半全局一致最终有界的,且跟踪误差可收敛至任意小.Abstract: A novel recursive sliding-mode dynamic surface adaptive control with nonlinear gains is proposed for the tracking problem of nonlinear systems in strict-feedback form. By designing a new function with nonlinear gains, contriving the strategy of recursive sliding-mode dynamic surface control (DSC) and novel Lyapunov function, and at the same time, using neural networks to approximate system uncertainty online, the new approach is able to effectively solve the contradiction of possess high control accuracy and good transient performance at the same time in the presence of input saturation and the designed controller is non-fragile to the perturbation of its own parameters. Stability analysis guarantees the semi-globally uniformly ultimate boundedness of the solution of the closed-loop system, and that ultimate tracking error bound in regulation can be made arbitrarily small.
-
Key words:
- Dynamic surface control (DSC) /
- sliding mode control /
- nonlinear gains /
- input saturation
-
[1] Saberi A, Kokotovic P V, Sussnam H J. Global stabilization of partially linear composite systems. SIAM Journal on Control and Optimization, 1990, 128(6): 1491-1503 [2] [2] Kanellakopoulos I, Kokotovic P V, Morse A S. Systematic design of adaptive controllers for feedback linearizable systems. IEEE Transactions on Automatic Control, 1991, 36(11): 1241-1253 [3] [3] Krstic M, Kanellakopoulos I, Kokotovic P V. Nonlinear design of adaptive controllers for linear systems. IEEE Transactions on Automatic Control, 1994, 39(4): 738-752 [4] [4] Hang T, Ge S S, Hang C C. Adaptive neural network control for strict-feedback nonlinear systems using backstepping design. Automatica, 2000, 36(12): 1835-1846 [5] [5] Yang Y S, Zhou C J. Adaptive fuzzy H1 stabilization for strict-feedback canonical nonlinear systems via backstepping and small-gain approach. IEEE Transactions on Fuzzy Systems, 2005, 13(1): 104-114 [6] [6] Wen C Y, Zhou J, Wang W. Decentralized adaptive backstepping stabilization of interconnected systems with dynamic input and output interactions. Automatica, 2009, 45(1): 55-67 [7] [7] Zhou J, Wen C Y, Wang W. Adaptive backstepping control of uncertain systems with unknown input time-delay. Automatica, 2009, 45(6): 1415-1422 [8] [8] Swaroop D, Gerdes J C, Yip P P, Hedrick J K. Dynamic surface control of nonlinear systems. In: Proceedings of the 1997 American Control Conference. Albuquerque, New Mexico: IEEE, 1997: 3028-3034 [9] [9] Swaroop D, Hedrick J K, Yip P P, Gerdes J C. Dynamic surface control for a class of nonlinear systems. IEEE Transactions on Automatic Control, 2000, 45(10): 1893-1990 [10] Wang D, Huang J. Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form. IEEE Transactions on Neural Networks, 2005, 16(1): 195-202 [11] Yoo S J, Park J B, Choi Y H. Adaptive dynamic surface control for stabilization of parametric strict feedback nonlinear systems with unknown time delays. IEEE Transactions on Automatic Control, 2007, 52(12): 2360-2365 [12] Li T S, Wang D, Gang F, Tong S C. A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2010, 40(3): 915-927 [13] Wang C L, Lin Y. Adaptive dynamic surface control for linear multivariable systems. Automatica, 2010, 46(10): 1703 -1711 [14] Zhang T P, Ge S S. Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form. Automatica, 2008, 44(7): 1895-1903 [15] Wang Yun-Jian, Liu He-Ping, Wang Ling. Self-optimize adaptive dynamic surface control. Control and Decision, 2010, 25(6): 939-942(王允建, 刘贺平, 王玲. 自寻优自适应动态面控制. 控制与决策, 2010, 25(6): 939-942) [16] Song B, Hedrick J K. Observer-based dynamic surface control for a class of nonlinear systems: an LMI approach. IEEE Transactions on Automatic Control, 2004, 49(11): 1995- 2001 [17] Zhang X Y, Lin Y. A robust adaptive dynamic surface control for nonlinear systems with hysteresis input. Acta Automatica Sinica, 2010, 36(9): 1264-1271 [18] Jia Tao, Liu Jun, Qian Fu-Cai. Adaptive fuzzy dynamic surface control for a class of nonlinear systems with unknown time-delays. Acta Automatica Sinica, 2011, 37(1): 83-91(贾涛, 刘军, 钱富才. 一类非线性时滞系统的自适应模糊动态面控制. 自动化学报, 2011, 37(1): 83-91) [19] Li Tie-Shan, Zou Zao-Jian, Luo Wei-Lin. DSC-backstepping based robust adaptive NN control for nonlinear systems. Acta Automatica Sinica, 2008, 34(11): 1424-1430(李铁山, 邹早建, 罗伟林. 基于DSC后推法的非线性系统的鲁棒自适应NN控制. 自动化学报, 2008, 34(11): 1424-1430) [20] Chen W S, Jiao L C, Du Z B. Output-feedback adaptive dynamic surface control of stochastic non-linear systems. IET Control Theory Applications, 2010, 4(12): 3012-3021 [21] Wen C Y, Zhou J, Liu Z T, Su H Y. Rubust adaptive control of uncertain nonliner systems in the presence of input saturation and external disturbance. IEEE Transactions on Automatic Control, 2011, 56(7): 1672-1678
点击查看大图
计量
- 文章访问数: 1470
- HTML全文浏览量: 65
- PDF下载量: 1281
- 被引次数: 0