Output regulation of nonlinear systems based on adaptive output feedback with adaptive NN feedforward control
Output regulation of nonlinear systems based on adaptive output feedback with adaptive NN feedforward control
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发表时间：
2009-10
影响因子：
1
通讯作者：
Mizumoto Ikuro;O. Yuji;Tanaka Hiroki;Iwai Zenta
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作者：
Mizumoto Ikuro;O. Yuji;Tanaka Hiroki;Iwai Zenta
针对高阶相对度非线性系统，提出了一种基于输出反馈控制的自适应调节器设计方法。该方法是一种基于被控系统的OFEP（输出反馈指数无源）特性的自适应输出反馈控制。为了实现自适应输出反馈控制系统，我们引入了一个PFC的非线性系统，不满足OFEP条件，并设计了一个自适应前馈输入与神经网络的结构，以实现输出调节和消除稳态偏置误差从PFC输出。该方法可以设计出输出调节精度较高的鲁棒自适应控制器。
In this paper, we propose a new design method of an adaptive regulator based on output feedback control for nonlinear systems with higher order relative degree. The proposed method is an adaptive output feedback control based on the OFEP (Output Feedback Exponentially Passive) properties of the controlled system. To realize an adaptive output feedback control system, we introduce a PFC for a nonlinear system which does not satisfy OFEP conditions and design an adaptive feedforward input with a structure of neural networks in order to attain output regulation and remove the steady-state bias error from the PFC output. This method can design the robust adaptive controller with higher accuracy on output regulation.