摘要
为了改善复杂非线性系统中传统滑模变结构控制系统的控制效果,提出了一种将多模型在线建模与滑模变结构控制结合的方案.首先,根据输入输出数据利用在线数据聚类的方法建立多个局部模型,实时对局部模型进行更新,并通过加权综合获得非线性系统的在线辨识模型;然后,针对系统的辨识模型设计基于趋近律的滑模变结构控制器.仿真结果表明,控制方案对系统模型的不确定性具有良好的鲁棒性.
In order to improve the control effect of traditional sliding mode variable structure control system for nonlinear uncertain systems,a new control scheme was proposed,which combines the multi-model on-line identification with sliding mode variable structure.Firstly,based on the input-output data,multiple local models was constructed by on-line clustering,and the local models are updated. Then,the model of the nonlinear system is given by the combination of all weighted local models.Finally,a sliding mode controller based on reaching law is designed according to the on-line indentificated system model.The simulation results show the robustness of the proposed scheme to the uncertainty of system model.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2011年第3期403-407,共5页
Journal of Shanghai Jiaotong University
基金
2008年度航空科学基金资助项目(2008ZA12001)
关键词
变结构控制
在线辨识
多模型
非线性系统
variable structure control
on-line identification
multi-model
nonlinear system
