具有超稳定结构的鲁棒自适应控制器
A Robust Adaptive Controller with Hyperstable Construction
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摘要: 针对结构和参数未知的非线性系统,提出了一种具有神经网络的超稳定鲁棒自适应 控制器.控制器基于一阶线性模型,采用Popov超稳定理论设计,其建模误差由BP网在线辨 识,辨识结果在前馈补偿器中加以补偿,有效地实现了鲁棒自适应控制.文中还给出了仿真 结果.Abstract: A robust adaptive controller with hyperstable construction is presented for nonlinear systems with unknown parameters and structure. The Popov hyperstable therom is used to design the controller. The modeling error is on-line identified by a BP network. The identified results are taken as a compensatory signal so that the uncertainties of the system are effectively overcome and the robust adaptive control results are obtained. Simulation results are also given.
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Key words:
- Neural network /
- hyperstability /
- robustness /
- adaptive control
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