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基于性能指标约束的一类输入死区非线性系统最优控制

郭子杰 白伟伟 周琪 鲁仁全

郭子杰, 白伟伟, 周琪, 鲁仁全. 基于性能指标约束的一类输入死区非线性系统最优控制. 自动化学报, 2019, 45(11): 2128−2136 doi: 10.16383/j.aas.c190414
引用本文: 郭子杰, 白伟伟, 周琪, 鲁仁全. 基于性能指标约束的一类输入死区非线性系统最优控制. 自动化学报, 2019, 45(11): 2128−2136 doi: 10.16383/j.aas.c190414
Guo Zi-Jie, Bai Wei-Wei, Zhou Qi, Lu Ren-Quan. Adaptive optimal control for a class of nonlinear systems with dead zone input and prescribed performance. Acta Automatica Sinica, 2019, 45(11): 2128−2136 doi: 10.16383/j.aas.c190414
Citation: Guo Zi-Jie, Bai Wei-Wei, Zhou Qi, Lu Ren-Quan. Adaptive optimal control for a class of nonlinear systems with dead zone input and prescribed performance. Acta Automatica Sinica, 2019, 45(11): 2128−2136 doi: 10.16383/j.aas.c190414

基于性能指标约束的一类输入死区非线性系统最优控制

doi: 10.16383/j.aas.c190414
基金项目: 

广州市科技计划项目 201904020006

国家自然科学基金 61673072

广东省自然科学基金 2018B030312006

国家自然科学基金 61425009

详细信息
    作者简介:

    郭子杰  广东工业大学自动化学院硕士研究生.主要研究方向为非线性系统控制, 最优控制.E-mail:guozijie1995@163.com

    白伟伟  广东工业大学自动化学院博士后研究员.主要研究方向为自适应控制, 强化学习, 系统辨识, 及其在船舶控制系统中的应用.E-mail:baiweiwei_dl@163.com

    周琪  广东工业大学自动化学院教授.主要研究方向为复杂系统智能控制, 协同控制及其应用.E-mail:zhouqi2009@gmail.com

    通讯作者:

    鲁仁全  广东工业大学自动化学院教授.主要研究方向为网络化控制系统理论及应用, 医疗大数据分析, 智能制造.本文通信作者.E-mail:rqlu@gdut.edu.cn

Adaptive Optimal Control for a Class of Nonlinear Systems With Dead Zone Input and Prescribed Performance

Funds: 

the Science and Technology Program of Guangzhou 201904020006

National Natural Science Foundation of China 61673072

Guangdong Province Natural Science Foundation 2018B030312006

National Natural Science Foundation of China 61425009

More Information
    Author Bio:

     Master student at the School of Automation, Guangdong University of Technology. His main research interest covers nonlinear systems control, optimal control

     Post-doctoral researcher at the School of Automation, Guangdong University of Technology. His research interest covers adaptive control, reinforcement learning, system identification, and their applications to marine cybernetics

     Professor at the School of Automation, Guangdong University of Technology. Her research interest covers intelligent control of complex systems, cooperative control and its applications

    Corresponding author: LU Ren-Quan  Professor at the School of Automation, Guangdong University of Technology. His research interest covers theory and application of networked control system, medical big data analysis and intelligent manufacturing. Corresponding author of this paper
  • 摘要: 针对一类考虑指定性能和带有输入死区约束的严格反馈非线性系统,本文提出了一种自适应模糊最优控制方法.采用模糊逻辑系统逼近系统的未知非线性函数及代价函数,利用backstepping方法及命令滤波技术,设计前馈控制器.针对仿射形式的误差系统,结合自适应动态规划技术,设计最优反馈控制器.采用指定性能控制方法,将系统跟踪误差约束在指定范围内.利用死区斜率信息解决具有死区输入的非线性系统的控制问题.基于Lyapunov稳定性理论,证明闭环系统内所有信号是一致最终有界的.最后仿真结果验证了本文方法的可行性和有效性.
    Recommended by Associate Editor LIU Yan-jun
    1)  本文责任编委 刘艳军
  • 图  1  参考信号$ x_{1d}$和输出信号$ y$

    Fig.  1  Reference signal $ x_{1d}$ and output $ y$

    图  2  $ \tilde z_{1}$的轨迹和指定性能边界曲线

    Fig.  2  Trajectories of $ \tilde z_{1}$ and performance bounds

    图  3  代价函数权值$\hat{w}_{c i}$ 和哈密顿函数 $\hat{H}\left(Z, \hat{U}^{*}\right)$ 的轨迹(i = 1; 2; 3; 4; 5)

    Fig.  3  The trajectories of cost functions weights $\hat w_{ci}$ and Hamiltonian $\hat H(Z, \hat U^ *)$ $(i = 1, 2, 3, 4, 5)$

    图  4  执行器输入信号$v$和执行器输出信号$u$

    Fig.  4  Trajectories of actuator input $v$ and actuator output $u$

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出版历程
  • 收稿日期:  2019-05-28
  • 录用日期:  2019-08-15
  • 刊出日期:  2019-11-20

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