带扰动离散非线性系统的小波自适应滑模控制

摘要

在实际控制系统中，非线性、未建模动态和外扰经常是不可估计或无法测量的。采用小波网络( WN)设计动态未知的离散非线性系统智能自适应滑模控制( ASMC)，应用WN构造滑模控制律的等价控制，使用合适的自适应律在线调节网络参数。系统的滑模能够保证在有限时间到达切换带，所得到的闭环系统是渐近稳定的。通过扰动分析表明，所设计的控制器具有较强的鲁棒性。基于倒立摆试验系统的仿真及应用研究证明了其可行性和有效性。%In practical control systems, unusually, the non-linearity, the unmodeled dynamics, and external disturbances are immeasurable and cannot be estimated. Thus the intelligent adaptive sliding mode control ( ASMC) based on wavelet network ( WN) has been designed for dynamic unknown discrete nonlinear system. The equivalent control of SMC is constructed by WN, the network parameters are tuned online by appropriate adaptive laws. The sliding mode of the system can reach the switching zone in limited time; the closed loop system obtained is asymptotically stable. The disturbance analysis indicates that the controller designed still possesses stronger robustness. The simulation based on experimental system of the inverted pendulum and application research verify its feasibility and effectiveness.