基于小波网络MIMO非线性系统自适应鲁棒控制

针对一类具有未知对象和外部干扰输入的多输入多输出非线性系统提出了一种自适应鲁棒控制方案。该方案采用小波网络辨识未知非线性对象并使用高增益观测器估计不能直接测量的系统状态。理论分析证明了一定的假设条件下闭环系统半全局稳定,所设计控制器不仅可保证闭环系统的所有信号半全局一致有界,而且使得系统的输出渐近跟踪有界的期望轨迹到一小邻域。仿真结果也充分表明该方法的可行性和有效性。

Wavelet Network-Based Adaptive Robust Control of MIMO Nonlinear Systems

An adaptive robust control scheme is proposed for a class of multi-input multi-output nonlinear systems with plant uncertainties and external disturbances.The scheme employs a wavelet network to approximate the nonlinearities of the system.A high-gain observer is used to estimate the states which can not be measured directly.Under mild assumptions,the closed-loop system is proven to semiglobally stable.The controller designed can guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded and the outputs of the system converge to a small neighborhood of the desired trajectories which is bounded and has bounded derivatives up to the order.Simulation results also demonstrate the effectiveness and feasibility of the approach.