基于模型不确定的非线性控制研究

Research on Nonlinear Control Based on Model Uncertainty

本文基于被控对象数学模型不确定中的两种典型情况分别进行讨论。考虑到系统数学建模中由于测量误差所产生的参数不确定性,给出基于模型不确定的参数自适应控制器设计方法。同时考虑到系统中未知有界函数动态的情况,给出基于滑模的控制器设计方法。然后,针对同一数学模型的不同情况,采用两种控制器分别进行了Matlab/Simulink实时仿真,从仿真中可以看出,本文中所设计的两种控制器均能够较好的保证系统稳定,跟踪效果较好。最后,针对本文中所提出的两种控制器进行了总结以及设计建议。

In this paper,two typical cases of uncertain mathematical model of controlled object are discussed respectively.Considering the parameter uncertainties caused by measurement errors in system mathematical modeling,a design method of parameter adaptive controller based on model uncertainties is proposed.Considering the unknown bounded function dynamics in the system,a sliding mode controller design method is proposed.Then,according to the different situations of the same mathematical model,two kinds of controllers are used to carry out the real-time simulation by MATLAB-Simulink respectively.From the simulation,it can be seen that the two controllers designed in this paper can better ensure the stability of the system and better tracking effect.Finally,the two controllers proposed in this paper are summarized and the design suggestions are given.