作　　者： ; ; ; ;

机构地区： 湖南大学电气与信息工程学院

出　　处： 《控制理论与应用》 2010年第3期382-386,共5页

摘　　要： 针对一类具有外部干扰的不确定仿射非线性MIMO系统提出了一种神经网络输出反馈跟踪控制方法.在仅输出可测的情况下,控制律和神经网络权值更新律中仅用到输出误差,无需设计状态观测器或加入低通滤波器使得估计误差动态满足严格正实条件.为抑制外部干扰和子系统间的交叉耦合及神经网络逼近误差,在控制律中加入鲁棒控制项.基于Lyapunov稳定性定理证明了系统的稳定性及信号的有界性.仿真例子证实了所提方法的可行性. An output feedback tracking control algorithm using neural network for a class of uncertain affine nonlin-ear MIMO systems with external disturbances is presented under the constraints that only the system output variables can be measured. No state observer or additional low-pass filter is employed in the algorithm to make the estimation error dynamics strictly-positive-real（SPR）. Only the output error is used in control laws and weights-update laws. The ad-ditional robust control term suppresses the influence of external disturbances and the cross-coupling of subsystems, and eliminates the neural network approximation error. The stability of the closed-loop system and the boundedness of signals are also demonstrated by Lyapunov stability theorem. A simulation example demonstrates the feasibility of the proposed approach.

关 键 词： 输出反馈 不确定非线性 神经网络

领　　域： [自动化与计算机技术] [自动化与计算机技术]