北京邮电大学学报

  • EI核心期刊

北京邮电大学学报 ›› 2009, Vol. 32 ›› Issue (3): 18-21.doi: 10.13190/jbupt.200903.18.lij

• 论文 • 上一篇    下一篇

鲁棒自适应控制的远程网络控制器设计

李静 宋召青 左斌   

  1. 海军航空工程学院战略导弹工程系 海军航空工程学院控制工程系
  • 收稿日期:2008-04-28 修回日期:2009-04-02 出版日期:2009-06-28 发布日期:2009-06-28
  • 通讯作者: 李静

Remote Controller Design Utilizing Robust Adaptive Control

  • Received:2008-04-28 Revised:2009-04-02 Online:2009-06-28 Published:2009-06-28

摘要:

针对一类具有广义不确定性的非线性网络控制系统,提出了一种基于鲁棒自适应控制与远程状态反馈控制相结合的控制策略。该控制方法首先通过引入一种鲁棒函数η1在线补偿系统的广义不确定项和非线性项,并基于李亚普诺夫(Lyapunov)稳定性理论设计出参数自适应调节律,保证了闭环误差系统指数收敛且一致有界稳定;然后运用状态反馈控制解决时延条件下的网络控制问题,并通过Lyapunov稳定性理论给出了具有时延的闭环NCS的稳定性定理;最后通过仿真结果对比验证了此方法的有效性。

关键词: 鲁棒自适应, 网络控制系统, 李雅普诺夫稳定性, 不确定性, 时延

Abstract:

Considering a class of networked control systems (NCS) with generalized uncertainty and nonlinearities, a control strategy is presented, which is based on robust adaptive control and remote feedback control. Firstly, a robust function η1 is introduced to compensate the generalized uncertainties and nonlinearities. The adaptive tuning rule of parameter is designed by Lyapunov stability theory and the uniformly bounded stability and exponential convergence of the closed-loop error system can be obtained. Then the state feedback control is utilized to the NCS with time-delay, and the stability of the closed-loop NCS is effectively guaranteed by Lyapunov stability theory. Finally, The simulation results show that this method is very effective.

Key words: robust adaptive, NCS, Lypunov stability, uncertainty, time delay