检索结果-南通市图书馆

Direct adaptive control for nonlinear uncertain system based on control Lyapunov function method

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Engineering and Electronics 2006年第3期17卷 619-623页

作者： Chen Yimei Han Zhengzhi Tang Houjun Dept. of Automation Tianjin Polytechnic Univ. Tianjin 300160 P. R. China School of Electronic Information & Electrical Engineering Shanghai Jiaotong Univ. Shanghai 200030 P. R. China

The problem of adaptive stabilization of a class of multi-input nonlinear systems with unknown parameters both in the state vector-field and the input vector-field has been considered. By employing the control Lyapunov function method, a direct adaptive controller is designed to complete the global adaptive stability of the uncertain system. At the same time, the controller is also verified to possess the optimality. Example and simulations are provided to illustrate the effectiveness of the proposed method.

关键词： adaptive control control Lyapunov function nonlinear uncertain system optimality.

Parameters Tuning of Model Free adaptive control Based on Minimum Entropy

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 361-371页

作者： Chao Ji Jing Wang Liulin Cao Qibing Jin the China National Offshore Oil Corporation Research Institute the College of Information Science and Technology Beijing University of Chemical Technology

Dynamic linearization based model free adaptive control(MFAC) algorithm has been widely used in practical systems, in which some parameters should be tuned before it is successfully applied to process industries. Considering the random noise existing in real processes, a parameter tuning method based on minimum entropy optimization is proposed,and the feature of entropy is used to accurately describe the system uncertainty. For cases of Gaussian stochastic noise and non-Gaussian stochastic noise, an entropy recursive optimization algorithm is derived based on approximate model or identified model. The extensive simulation results show the effectiveness of the minimum entropy optimization for the partial form dynamic linearization based MFAC. The parameters tuned by the minimum entropy optimization index shows stronger stability and more robustness than these tuned by other traditional index,such as integral of the squared error(ISE) or integral of timeweighted absolute error(ITAE), when the system stochastic noise exists.

关键词： Tuning Entropy Noise measurement Stochastic processes Heuristic algorithms Learning (artificial intelligence) Mathematical model adaptive control Algorithm design and analysis

Coordinated adaptive control for Coordinated Path-following Surface Vessels with a Time-invariant Orbital Velocity

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 337-346页

作者： Yangyang Chen Ping Wei Key Laboratory of Measurement and control of Complex Systems of Engineering Ministry of EducationSoutheast University the Department of Electronic Information Engineering Anhui Business College

This article considers the problem of directing a family of fully actuated surface vessels to cooperatively follow a set of convex and closed orbits with a time-invariant reference orbital velocity and maintain attitude synchronization. A consensusbased adaptive control law under a bidirectional communication topology is proposed to estimate the reference orbital velocity so that the restriction that every vessel in the family must have access to the reference in the previous literature can be *** assumption of nonzero total linear speed of each vessel is removed by the use of potential function. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： Learning (artificial intelligence) adaptive control Sea surface Synchronization Topology Marine technology

Simulation of adaptive control Strategy for Electrical Discharge Machining Process

在线全文

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2015年第4期20卷 408-414页

作者：杨青照周明田洪森张惠生许东晖 School of Mechanical-Electronic and Automobile Engineering Beijing University of Civil Engineering and Architecture

Electrode down-time is an important factor affecting the efficiency and stability of electrical discharge machining(EDM) process. In the research, a way of simulating the regulation of the electrode down-time in an EDM adaptive control system has been studied. All the simulations are performed on Matlab. The simulation results demonstrate that this adaptive controller by regulating electrode down-time can direct the gap state to follow the specified reference gap state with or without disturbances. Finally, the adaptive control scheme is also validated by experiments. The significance of the simulation of an EDM adaptive control system lies on the fact that it provides a convenient way to guide the actual production and provides a new study method for the research of EDM control strategy with no regard of experimental conditions.

关键词： electrical discharge machining(EDM) adaptive control electrode down-time Matlab simulation

Fuzzy dynamic characteristic modeling and adaptive control of nonlinear systems and its application to hypersonic vehicles

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2011年第3期54卷 460-468页

作者： LI HongBo , SUN ZengQi, MIN HaiBo & DENG JianQiu Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China Department of Computer Science and Technology Tsinghua University Beijing China

In this paper, a fuzzy dynamic characteristic modeling and adaptive control method is proposed for a class of nonlinear systems. By employing fuzzy dynamic characteristic model, the controlled plant is described as a slowly time-varying fuzzy system, wherein the parameters are estimated online by using recursive Least-Squares algorithm. Under this framework, a fuzzy adaptive controller is constructed, and the stability condition of the closed-loop system is also derived. The main advantage of the proposed method lies in no requirement for the prior knowledge of system model and less parameters to tune, which allows engineers to operate it in a simple, straightforward manner. The proposed method is applied to the control of hypersonic vehicle, and simulation results are given to demonstrate the effectiveness of the obtained results.

关键词： fuzzy control dynamic characteristic model adaptive control hypersonic vehicle

Robust adaptive control for uncertain systems with discrete and distributed delays

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2008年第3期6卷 287-292页

作者： Qing ZHU Shumin FEI Tao LI Tianping ZHANG Key Laboratory of Measurement and control of Complex Systems of Engineering School of Automation Southeast University Nanjing Jiangsu 210096 China College of Information Engineering Yangzhou University Yangzhou Jiangsu 225009 China

In this paper, a robust adaptive control scheme is proposed for the stabilization of uncertain linear systems with discrete and distributed delays and bounded perturbations. The uncertainty is assumed to be an unknown continuous function with norm-bounded restriction. The perturbation is sector-bounded. Combining with the liner matrix inequality method, neural networks and adaptive control, the control scheme ensures the exponential stability of the closed-loop system for any admissible uncertainty.

关键词： Time-delay systems Robust control adaptive control Neural networks Global exponential stability Linear matrix inequalities

Robust adaptive control for a nonholonomic mobile robot with unknown parameters

在线全文

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2009年第2期7卷 212-218页

作者： Jinbo WU Guohua XU Zhouping YIN School of Naval Architecture and Ocean Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China State Key Lab of Digital Manufacturing and Technology Huazhong University of Science and Technology Wuhan Hubei 430074 China

A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed. A kinematic controller whose output is the input of the relevant dynamic controller is provided by using the concept of backstepping. An adaptive algorithm is developed in the kinematic controller to approximate the unknown kinematic parameters, and a simple single-layer neural network is used to express the highly nonlinear robot dynamics in terms of the known and unknown parameters. In order to attenuate the effects of the uncertainties and disturbances on tracking performance, a sliding mode control term is added to the dynamic controller. In the deterministic design of feedback controllers for the uncertain dynamic systems, upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system. However, sometimes these upper bounds may not be easily obtained because of the complexity of the structure of the uncertainties. Thereby, simple adaptation laws are proposed to approximate upper bounds on the norm of the uncertainties to address this problem. The stability of the proposed control system is shown through the Lyapunov method. Lastly, a design example for a mobile robot with two actuated wheels is provided and the feasibility of the controller is demonstrated by numerical simulations.

关键词： Nonholonomic constraints Mobile robot Sliding mode control adaptive control Robustness Neural network

Curvature adaptive control Based Path Following for Automatic Driving Vehicles in Private Area

在线全文

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 690-698页

作者：师强张建林杨明 Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Path following refers to traveling along the desired path with automatic steering control,which is a crucial technology for automatic driving *** in private areas are highly irregular,resulting in a large curvature variation,which reduces the control accuracy of the path following.A curvature adaptive control(CAC)based path-following method was proposed to solve the problem mentioned ***,CAC takes advantage of the complementary characteristics in response to the path curvature fluctuation of pure pursuit and front-wheel feedback and by combining the two methods further enhances the immunity of the control accuracy in response to a curvature *** CAC,the quantitative indices of the path curvature fluctuation and control accuracy were *** model between the path curvature fluctuation and a dynamic parameter was identified using the quantitative index of the control accuracy as the optimization *** experimental results of a real vehicle indicate that the control accuracy of path following is further enhanced by its immunity in response to curvature fluctuation improved by the *** addition,CAC is easy to deploy and requires low demand for hardware resources.

关键词： automatic driving vehicles path following adaptive control

Fuzzy adaptive control of Delayed High Order Nonlinear Systems

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

International Journal of Automation and computing 2012年第2期9卷 191-199页

作者： Qing Zhu Ai-Guo Song Tian-Ping Zhang Yue-Quan Yang School of Instrument Science and Engineering Southeast University Nanjing 210096 PRC Department of Automation Yangzhou University Yangzhou 225009 PRC

This paper deals with the problem of tracking control for a class of high order nonlinear systems with input delay. The unknown continuous functions of the system are estimated by fuzzy logic systems （FLS）. A state conversion method is introduced to eliminate the delayed input item. By means of the backstepping algorithm, the property of semi-globally uniformly ultimately bounded （SGUUB） of the closed-loop system is achieved. The stability of the closed-loop system is proved according to Lyapunov second theorem on stability. The tracking error is proved to be bounded which ultimately converges to an adequately small compact set. Finally, a computer simulation example of high order nonlinear systems is presented, which illustrates the effectiveness of the control scheme.

关键词： Fuzzy control adaptive control time delay backstepping nonlinear system.