实际的有限时间命令过的自适应后退,以及它对四旋翼悬浮器的应用
IEEE transactions on cybernetics
|October 31, 2023
概括
一种新的实用有限时间命令选自适应后退 (PFTCFAB) 控制方法处理系统不确定性,无需神经网络或模糊逻辑. 这种方法提高了可靠性,并减少了非线性系统的复杂性.
科学领域:
- 控制系统工程 控制系统工程
- 非线性动力学是一种非线性动力学.
- 机器人技术 机器人技术 机器人技术
背景情况:
- 不确定的非线性系统带来了重要的控制挑战.
- 现有的自适应后退方法通常依赖于诸如神经网络或模糊逻辑系统之类的复杂组件.
- 解决非参数不确定性和外部干扰对于稳健的控制至关重要.
研究的目的:
- 引入一种新的实用有限时间命令选自适应后退 (PFTCFAB) 控制方法.
- 开发一种PFTCFAB策略,避免需要神经网络或模糊逻辑系统.
- 在不确定的非线性系统中确保追踪和估计错误的有限时间稳定性.
主要方法:
- 设计新的函数适应定律,直接估计未知的非线性和干扰.
- 开发实用的有限时间命令过器,以生成适应性规律.
- 整合PFTCFAB控制器和指令过器与有限时间Lyapunov稳定性分析.
主要成果:
- 拟议的方法有效地处理非参数未知非线性和外部干扰,没有NN或FLS.
- 系统跟踪错误和过器估计错误的有限时间稳定性得到保证.
- 在四旋翼悬浮系统上的实验验证证明了该策略的有效性.
结论:
- 提出的PFTCFAB控制方法为控制不确定的非线性系统提供了一种简化和更可靠的方法.
- 该技术成功地解决了系统的不确定性和干扰,实现了有限时间稳定性.
- 该研究强调了命令过技术在增强自适应控制策略方面的潜力.
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