【作者】 王伟；

【Author】 WANG Wei (Information School,Renmin University of China, No.59 Zhongguancun,Beijing 100872,P.R.China)

【机构】 中国人民大学信息学院；

【摘要】 智能控制的核心问题是关于如何克服复杂性和不确定性的问题。本文我们从另一角度即对于不确定系统或耦合系统通过动态反馈使之线性化或解耦的办法解决所面临的问题。主要方法可以概括如下:首先将不确定系统或耦合的系统转化为具有一定结构,但包含不确定成份的情况。然后通过引入一个动态环节来调节PID控制的积分项增益的办法构建动态反馈,这样不仅可以消除外来扰动、不确定成份和非线性成份,而且可以实现系统的解耦,使不确定系统或具有复杂结构的耦合系统成为结构确定的线性系统。这种方法也可以用于高阶系统或MIMO系统,而且可以避免现在常见的智能控制系统结构的复杂性,理论分析和仿真研究表明方法的有效性。更多还原

【Abstract】 The kernel problem of intelligent control is on how to overcome the complexity and uncertainty.In this paper,we deal with the problem from another point of view,i.e.,we solve the problem by using dynamic feedback to get linearization for uncertain systems or to get the decoupling form for interconnected systems.The main method can be summarized as follows.First,we translate the uncertain systems into systems with certain given structure but contain uncertain or coupled parts.And then we use a dynamic feedback mechanism to regulate the gain of Integral part of PID controller such that the disturbances,uncertainties or nonlinearity can be removed,or the interconnected part can be decoupled.And the system can be changed into linear one.The method can also be extended to higher order systems or to MIMO systems.It can also avoid the complicated structure of the exiting intelligent control method.The theoretical analysis and simulation results are given to indicate the effectiveness of the method.更多还原