摘要
针对多入多出非仿射非线性系统,提出了一种径向基网络补偿逆模型误差的自适应控制方法.将难以求逆的非仿射项分解为可逆部分和不可逆部分,可逆部分作为理想逆来近似系统的直接逆,逆模型误差用径向基网络的自适应控制信号补偿,网络权值利用不可逆部分非仿射信息更新,应用均值理论和Lyapunov函数证明了自适应控制律的稳定性.仿真结果验证了该方法的有效性.
A radius basis functiota （RBF） network inverse control method is considered for a class of multi-input multi-output （MIMO） nonaffine nonlinear system. In this method, the nonaffine term which is hard to invert is decomposed into invertible part and un-invertible part, the invertible part is used to approximate the inversion of system and the invert error is approximately canceled by the adaptive signM, the un＊invertible part is used to update the RBF network＇s weights. Using Lyapunov＇s direct method, it is shown that all the signals of the closed-loop system are uniformly ultimately bounded. Simulation results are provided to show the good tracking performance and effectiveness of the proposed method.
出处
《系统工程理论与实践》
EI
CSSCI
CSCD
北大核心
2013年第6期1601-1607,共7页
Systems Engineering-Theory & Practice
基金
国家自然科学基金(60904038)
