摘要
为解决系统初始值大范围变化,且控制量受到饱和特性约束的板球系统镇定控制问题,提出一种自动调整待设计参数的反步控制方法.分析了反步法偏差系统的平衡点特性;说明了反步法待设计参数与偏差系统动态间的关系;构造了Mamdani模糊逻辑,以自动调整反步法待设计参数;考虑了控制量受饱和特性限制而引入的约束条件,进而以遗传算法优化了模糊规则.仿真和实验结果均表明,自动调整待设计参数的反步控制方法降低了镇定控制中的位置偏差和位置超调.
Backstepping control method with automatic tuning design parameters is proposed in this paper. The method is employed for the stabilization control of ball and plate system when system initial conditions vary in a wide range and system controls are constrainted by saturation characteristics. Equilibrium points of error system in the backstepping control are analyzed. Relationships between design parameters in the backstepping control and the dynamics of the error system are illustrated. Mamdani fuzzy logic is used to tune the design parameters automatically in the backstepping control. Rules of the fuzzy logic are optimized by using genetic algorithm under the restricted conditions introduced by control saturations. Simulation and method with automatic tuning design parameters can reduce control. experiment results show that the backstepping control position errors and position overshoots in stabilization
出处
《控制与决策》
EI
CSCD
北大核心
2009年第5期749-753,758,共6页
Control and Decision
基金
教育部高等学校博士学科点专项科研基金项目(20060183006)
关键词
非线性控制
反步法
板球系统
遗传算法
Nonlinear control
Backstepping design
Ball and plate system
Genetic algorithm
