基于神经网络的自适应固定时间控制,用于具有输入量化和输出约束的2DOF直升机系统
概括
本研究介绍了非线性直升机的神经网络控制,确保在固定的时间内稳定,尽管输入量化和输出约束. 适应性技术和屏障功能保证了系统的性能和安全.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 非线性系统动态 非线性系统动态
- 在工程领域的人工智能.
背景情况:
- 由于其固有的复杂性,非线性直升机系统存在重大控制挑战.
- 输入量化和输出约束可以降低控制性能和系统稳定性.
- 在这种情况下,现有的控制方法可能难以保证固定时间的趋同.
研究的目的:
- 为2DOF非线性直升机开发一种新的适应性固定时间控制策略.
- 为应对输入量化和输出约束所带来的挑战.
- 为了确保系统信号在预先确定的固定时间内保持局限.
主要方法:
- 使用歇斯底里量化仪和适应变量来管理输入量化和相关错误.
- 辐射基函数神经网络 (NN) 估计的系统不确定性.
- 一个对数障碍利亚普诺夫函数 (BLF) 强制执行输出约束.
- 使用了利亚普诺夫稳定性分析和固定时间稳定性标准.
主要成果:
- 提出的基于NN的自适应控制方法有效地减轻了量子化引起的聊.
- 系统的不确定性被辐射基函数NN准确地近似.
- 对数障碍力普诺夫函数成功阻止了输出约束违规.
- 封闭循环系统的信号被严格证明是固定时间内的.
结论:
- 开发的控制策略确保了2-DOF非线性直升机系统的稳定和稳定的运行.
- 该方法在处理输入量化和输出约束方面表现出有效性.
- 数字模拟和实验验证证证了拟议方法的实际可行性.
相关概念视频
01:26Feedback control systems
305
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...
305
01:07Time-Domain Interpretation of PD Control
95
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...
95
01:22Controller Configurations
94
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
94
01:22Multi-input and Multi-variable systems
106
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
106
01:21Linear Approximation in Time Domain
81
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
81
01:17Open and closed-loop control systems
722
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...
722