含几类典型输入非线性环节的自适应动态面控制问题研究

Typical nonlinearities such as hystersis, deadzone, backlash, friction are generally exist in physical systems and these nonlinearities will affect the performance and the stability of the control systems seriously. By using some class of typical nonlinear systems with nonlinearities input as the research object and using the power stable control system, metal cutting control system and robot tracking control system as the experimental method, we intend to solve the following key problems without constructing the inverse of above nonlinearities when the adaptive dynamic surface control is adopted: (1) design the states observer and the compensation terms in the control signal to eliminate the influence of the input nonlinearities when only the outputs being measured (2) the improvement of the transient performance performance and the elimination of the "bursting phenomenon" in time-delay nonlinear systems with nonlinearities input (3) design the dynamic surface controller for lower triangular structure nonlinear systems with nonlinearities input when the control directions are unknown.Finally, we will try to design the adaptive dynamic surface controller with the features of simply structure, rapid response and high accuracy.

典型输入非线性环节如磁滞、死区、间隙及摩擦等，广泛的存在于各类实际物理系统中，对系统的控制性能及稳定性造成严重影响。因此，针对存在输入非线性环节的控制问题成为研究热点。本课题拟以存在输入非线性环节的几类典型非线性系统为研究对象，以电力系统稳定性控制系统、金属精密切削系统、机器人轨迹跟踪控制系统为相应的实验验证手段，在不建立输入非线性逆模型的情况下，解决其鲁棒自适应动态面控制中的如下关键问题：（1）系统仅输出可测量时，为了抵消输入非线性对控制系统的影响，状态观测器及控制器中输入非线性的补偿信号设计问题；（2）具有输入非线性的时滞系统跟踪误差过渡过程的改善及控制信号中"抖振"现象的消除问题；（3）具有输入非线性且控制增益符号未知的非线性系统自适应动态面控制器的设计问题。在此基础上设计出结构简单、响应快速、准确性高的自适应动态面控制器。

典型输入非线性环节如磁滞、死区、间隙等广泛的存在于各类实际物理系统中，对系统的控制性能及稳定性造成严重影响。本课题以存在输入非线性环节的几类典型非线性系统为研究对象，以电力系统稳定性控制系统、金属精密切削系为相应的实验验证平台，解决相应鲁棒自适应动态面控制中的如下关键问题：（1）系统状态全部可测和仅输出可测量时，为了抵消输入非线性对控制系统的影响，状态观测器及控制器设计问题；（2）具有输入非线性的时滞系统跟踪误差过渡过程的改善及控制信号中"抖振"现象的消除问题；（3）具有输入非线性且控制增益符号未知的非线性系统自适应动态面控制器的设计问题。