神经自适应H∞滑动模式控制不确定的非线性系统与使用自适应动态编程的干扰的动态编程
1College of Electronic and Information Engineering, Hebei University, Baoding 071002, China.
Entropy (Basel, Switzerland)
|December 23, 2023
概括
本研究介绍了一个神经自适应的H∞滑动模式控制不确定非线性系统. 该方法使用自适应动态编程和神经网络有效处理干扰和不确定性,确保系统的稳定性.
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.
- 人工智能在控制中
背景情况:
- 不确定的非线性系统容易受到外部干扰,这给控制带来了重大挑战.
- 现有的控制方法往往需要先前了解干扰极限,这限制了它们的适用性.
- 适应动态编程 (ADP) 提供了一种有前途的方法,用于对复杂系统进行最佳控制.
研究的目的:
- 为不确定的非线性系统开发一种新的神经适应性H∞滑动模式控制方案.
- 同时估计系统不确定性和外部干扰,而不需要事先了解它们的边界.
- 为了在存在重大干扰的情况下实现强大的稳定性和最佳控制性能.
主要方法:
- 一个结合的神经网络 (NN) 近似和非线性干扰观察者框架,用于增强估计.
- 适应式滑动模式控制器的设计,以抵消匹配的不确定性和干扰.
- 利用基于单一批评网络的ADP算法来学习Hamilton-Jacobi-Isaacs方程,以获得H∞的最佳控制.
- 利亚普诺夫的方法分析闭环系统的统一终极边界性稳定性.
主要成果:
- 提议的增强观察器有效地估计了系统的不确定性和外部干扰.
- 适应式滑动模式控制器成功地减轻了匹配的干扰和不确定性.
- 通过ADP算法实现H∞最佳控制,确保纳什平衡和稳定性.
- 在机器人臂和动力系统上的模拟验证了拟议的控制方案的有效性.
结论:
- 开发的神经自适应H∞滑动模式控制方案为不确定的非线性系统提供了强大的和最佳的控制.
- 对NN,干扰观察员和ADP的整合为复杂的控制问题提供了一个强大的框架.
- 拟议的方法在处理未知的干扰和不确定性方面表现出卓越的性能,通过模拟进行验证.
相关概念视频
01:07Time-Domain Interpretation of PD Control
116
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
116
01:24PI Controller: Design
284
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
284
01:26PD Controller: Design
239
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
239
01:26Feedback control systems
315
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
315
01:27Time and frequency -Domain Interpretation of PI Control
130
Proportional-Integral (PI) controllers are essential in many control systems to improve stability and performance. They are commonly used in everyday devices like thermostats to enhance system damping and reduce steady-state error. When the zero in the controller's transfer function is optimally placed, the system benefits significantly in terms of stability and accuracy.
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
130
01:17Open and closed-loop control systems
755
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
755