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多入多出非仿射系统的径向基网络逆控制方法
RBF network inverse control method for MIMO nonaffine system
针对多入多出非仿射非线性系统, 提出了一种径向基网络补偿逆模型误差的自适应控制方法. 将难以求逆的非仿射项分解为可逆部分和不可逆部分, 可逆部分作为理想逆来近似系统的直接逆, 逆模型误差用径向基网络的自适应控制信号补偿, 网络权值利用不可逆部分非仿射信息更新, 应用均值理论和Lyapunov函数证明了自适应控制律的稳定性. 仿真结果验证了该方法的有效性.
A radius basis function (RBF) network inverse control method is considered for a class of multi-input multi-output (MIMO) nonaffine nonlinear system. In this method, the nonaffine term which is hard to invert is decomposed into invertible part and un-invertible part, the invertible part is used to approximate the inversion of system and the invert error is approximately canceled by the adaptive signal, the un-invertible part is used to update the RBF network's weights. Using Lyapunov's direct method, it is shown that all the signals of the closed-loop system are uniformly ultimately bounded. Simulation results are provided to show the good tracking performance and effectiveness of the proposed method.
非仿射系统 / 多入多出 / 径向基网络 / 自适应控制 {{custom_keyword}} /
nonaffine system / MIMO / RBF neural network / adaptive control {{custom_keyword}} /
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国家自然科学基金(60904038)
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