一种新的数据驱动的非线性自适应切换控制方法

牛宏; 陶金梅; 张亚军

doi:10.16383/j.aas.c190674

一种新的数据驱动的非线性自适应切换控制方法

doi: 10.16383/j.aas.c190674

1.
辽宁石油化工大学理学院抚顺 113001
2.
东北大学流程工业综合自动化国家重点实验室沈阳 110819

基金项目: 国家自然科学基金(61773107, 61866021, 61991402, 61890924, 61833004, 61973202) and CSC (201808210410)资助

详细信息

作者简介:
牛宏：辽宁石油化工大学讲师. 2012年获得东北大学博士学位. 主要研究方向为非线性系统的自适应控制和变结构控制.E-mail: niuhong@lnpu.edu.cn

陶金梅：辽宁石油化工大学硕士研究生. 主要研究方向为非线性自适应控制, 系统辨识, 数据建模. E-mail: tao_jinmei@hotmail.com

张亚军：东北大学副教授. 主要研究方向为非线性模糊自适应控制理论, 广义预测控制, 多模型切换控制, 智能解耦控制, 数据驱动控制, 智能控制系统的大数据建模, 工业过程大数据建模及其应用. 本文通信作者. E-mail: yajunzhang@mail.neu.edu.cn

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出版历程
- 收稿日期: 2019-09-23
- 录用日期: 2020-01-09
- 刊出日期: 2020-11-24

A New Nonlinear Adaptive Switching Control Method Based on Data Driven

1.
College of Science, Liaoning Shihua University, Fushun 113001
2.
State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819

Funds: Supported by National Natural Science Foundation of China (61773107, 61866021, 61991402, 61890924, 61833004, 61973202) and CSC (201808210410)

摘要

摘要: 针对一类非线性离散时间动态系统, 提出了一种新的非线性自适应切换控制方法. 该方法首先把非线性项分解为前一拍可测部分与未知增量和的形式, 并充分利用被控对象的大数据信息和知识, 把非线性项前一拍可测数据与未知增量都用于控制器设计, 分别设计了线性自适应控制器, 带有非线性项前一拍可测数据补偿的非线性自适应控制器以及带有非线性项未知增量估计与补偿的非线性自适应控制器. 三个自适应控制器通过切换函数和切换规则来协调控制被控对象. 既保证了闭环系统的稳定性, 同时又提高了闭环系统的性能. 分析了闭环切换系统的稳定性和收敛性. 最后, 通过水箱液位系统的物理实验, 实验结果验证了所提算法的有效性.
- 数据驱动 /
- 非线性系统 /
- 自适应控制 /
- 切换系统
Abstract: In this paper, a new nonlinear adaptive switching control method is proposed for a class of nonlinear discrete time dynamical systems. The proposed method firstly decomposes the nonlinear term into the form of the measurable part at the previous sampling instant plus its unknown increment part, and makes full use of the big data information and knowledge of the controlled plant, both the measurable part and the unknown increment of the nonlinear term are used in the controller design, the linear adaptive controller, nonlinear adaptive controller with nonlinear term measurable data compensation and nonlinear adaptive controller with nonlinear unknown increment estimation are designed respectively. Three adaptive controllers are used to the controlled plant coordinately through switching functions and switching rules, which not only ensures the stability of the closed-loop system but also improves the performance of the closed-loop system. The stability and convergence of the closed-loop switching system are analyzed. Finally, through the physical experiment of the level control system of the tank, the experimental results verify the effectiveness of the proposed algorithm.
- Data driven /
- nonlinear systems /
- adaptive control /
- switching system

HTML全文

图 1 带有$v[{{x}}(k)]$前一拍数据及其未知增量补偿的非线性控制器

Fig. 1 Nonlinear controller with $v[{{x}}(k)]$ previous step data and its unknown incremental compensation

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图 2 切换控制结构

Fig. 2 Switching control structure

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图 3 水箱液位控制系统图

Fig. 3 Diagram of tank level control system

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图 6 切换序列

Fig. 6 Switching sequence

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图 4 采用本文方法时水箱液位的实际响应曲线(输出y)

Fig. 4 The actual response curve of tank level by the proposed method (output y)

下载: 全尺寸图片幻灯片

图 5 采用本文切换控制方法时水箱液位的控制输入u

Fig. 5 The actual input of tank level by the proposed method in this paper (input u)

下载: 全尺寸图片幻灯片

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