【作者】 梅建东； 张天平； 沈启坤；

【Author】 Mei Jiandong Zhang Tianping Shen Qikun Department of Computer,College of Information Engineering,Yangzhou University,Yangzhou 225009

【机构】 扬州大学信息工程学院计算机系；

【摘要】 针对一类不确定非线性系统,基于变结构控制原理,并利用多层神经网络的逼近能力,提出一种具有监督控制器的积分变结构神经网络控制方案。该方案通过监督控制器保证闭环系统所有信号有界。进一步,通过引入残差与逼近误差和的上界函数的自适应补偿项来消除建模误差的影响。理论分析证明了跟踪误差收敛到零。仿真结果表明了该方法的有效性。更多还原

【Abstract】 A new integral variable structure neural network adaptive control scheme with supervisory controller for a class of uncertain nonlinear systems is developed in this paper. The design is based on the principle of variable structure control and the approximation capability of multilayer neural networks (MNNs). With the help of a supervisory controller, the resulting closed–loop system is globally stable in the sense that all signals involved are uniformly bounded. Furthermore, the adaptive compensation term of the upper bound function of the sum of residual as well as approximation error is adopted to reduce the effects of modeling error. By theoretical analysis, it is shown that tracking error converges to zero. Simulation results demonstrate the effectiveness of the approach.更多还原