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1、自適應反演滑??刂普W兘Y構控制出現(xiàn)在20世紀中后期,由于變結構系統(tǒng)的滑動模態(tài)運動對系統(tǒng)的參數(shù)攝動、外界的擾動、不確定模態(tài)和模型不確定性具有自適應性,也就是完全魯棒性,使得滑??刂埔鹆巳藗兊臉O大關注。反演(backstepping)是將復雜的非線性系統(tǒng)分解成不超過系統(tǒng)階數(shù)的子系統(tǒng),然后為每個子系統(tǒng)分別設計李雅普諾夫函數(shù)和中間虛擬控制量,一直后退到整個系統(tǒng),直到完成整個控制律的設計。本課題與李雅普諾夫型自適應律結合,綜合考慮控制律和自適應律,使整個閉環(huán)系統(tǒng)滿足期望的動靜態(tài)性能指標。在本論文中,將滑模變結構控制和基于backstepping設計方法的自適應控制
2、有機結合,實現(xiàn)了以下技術指標:研究了Backstepping的基本思想和設計方法,并通過仿真實例進行驗證。設計出Backstepping滑模控制器。設計出自適應Backstepping滑??刂破?使整個閉環(huán)系統(tǒng)滿足期望的動靜態(tài)性能指標。通過MATLAB平臺,對實例進行了仿真。仿真結果表明:研究自適應反演滑模控制策略,為一大類不確定非線性系統(tǒng)提供了一種更有效的控制策略。關鍵詞:滑模變結構,反演控制器,自適應,李雅普諾夫函數(shù)62自適應反演滑??刂艫daptiveBacksteppingSlidingModeControlABSTRACTTheslidingmodev
3、ariablestructurecontrolwasbroughtinthemid-andlate20thcentury.Itisattention-gettingbecausetheslidingmodemovementofvariablestructuresystemholdstheadaptability,anidealrobustness,forthechangeofsystemparameters,outsidedisturbance,uncertainmodeandmodeluncertaintyofthesystem.Backsteppingalg
4、orithmisdesignedtodecomposeacomplicatednonlinearsystemtoseveralsubsystemswithlowerorders,andthenaLyapunovfunctionandaninterimvirtualcontrolvariablearerespectivelydesignedforeachsubsystem.Thestepsofrecursivealgorithmwillcontinueuntilthewholecontrollawisworkedout.Inordertomakethewholec
5、losed-loopsystemmeettheanticipantstableanddynamicperformanceindexes,thesubjectiscombinedtoLyapunov’sadaptivelaw,andthecontrollawandadaptivelawarealsotakenintoconsideration.Inthispaper,theslidingmodevariablestructurecontrolisproperlycombinedtoadaptivecontrolbasedonbacksteppingdesignan
6、dthetechnicalgoalsarerealizedasfollowing.Thebasicidealanddesigningmethodofbacksteppingarestudiedandprovedthroughthesimulationofpracticalexamples.Backsteppingslidingmodecontrollerisdeveloped.Adaptivebacksteppingslidingmodecontrollerisdesignedtomakethewholeclosed-loopsystemmeettheantic
7、ipantstableanddynamicperformanceindexes.ThesimulationofpracticalexamplesiscarriedoutontheplatformofMATLAB.Thesimulationresultsshowthattheadaptivebacksteppingsliding62自適應反演滑??刂苖odeprovidesamoreefficientcontrolstrategyforalargeclassofuncertainnonlinearsystems.Keywords: slidingmodevari
8、ablestructur