Multidimensional Taylor network optimal control of SISO nonlinear systems for tracking by output feedback

Yan Hong‐Sen; Sun Qi‐Ming; Zhou Bo

摘要

Summary >It is difficult or even impossible for the existing nonlinear system control methods to realize the real‐time tracking control of nonlinear systems in the presence of modeling errors by output feedback. For that sake, multidimensional Taylor network (MTN) optimal control method is proposed for the real‐time optimal tracking control of the SISO nonlinear constant system with modeling errors as such. On the basis of the original MTN, the control input item is added to the nonlinear dynamic model, which is then termed as the MTN optimal controller (MTNOC). Its initial parameters are trained by the conjugate gradient method and the minimum principle, according to the calculated optimal input and output of the controlled object in open‐loop status. The propagation learning algorithm is adopted to improve the MTN product term weights and eliminate the modeling errors during the real system adjustment process. Simulation results show that the MTNOC promises a high response rate. Despite the errors in the modeling process, MTNOC manages to stabilize the system for tracking the desired output. The experiment of overlaying an additional signal on the input signal proves MTNOC to be of excellent tracking characteristics, capable of inhibiting the disturbance signal to some extent. In short, by realizing the optimal closed‐loop tracking control of the SISO nonlinear constant system by output feedback, MTNOC guarantees its real‐time control accuracy, dynamic performance, robustness, and anti‐disturbance capability. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：lang =“en”> <title type =“main”xml：lang =“de”>摘要</标题> <P>现有的非线性系统控制方法很难甚至不可能通过输出反馈在存在建模误差存在下实现非线性系统的实时跟踪控制。为此，提出了多维泰勒网络（MTN）最优控制方法，用于Siso非线性恒定系统的实时最佳跟踪控制，具有建模误差。在原始MTN的基础上，将控制输入项目添加到非线性动态模型，然后被称为MTN最优控制器（MTNOC）。根据在开环状态下的控制对象的计算最优输入和输出，其初始参数由共轭梯度方法和最小原则训练。采用传播学习算法来改善MTN产品术语权重，并在真实系统调整过程中消除建模误差。仿真结果表明，MTNOC承诺高响应率。尽管建模过程中存在错误，但MTNOC管理以稳定系统以跟踪所需的输出。在输入信号上覆盖附加信号的实验证明了MTNOC具有优异的跟踪特性，能够在一定程度上抑制干扰信号。简而言之，通过输出反馈实现SISO非线性恒定系统的最佳闭环跟踪控制，MTNOC可确保其实时控制精度，动态性能，鲁棒性和防干扰能力。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-27675/'>《Optimal Control Applications and Methods》</a> <b style="margin: 0 2px;">|</b><span>2018年第2期</span><b style="margin: 0 2px;">|</b><span>共14页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Yan Hong‐Sen&option=202" target="_blank" rel="nofollow">Yan Hong‐Sen;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Sun Qi‐Ming&option=202" target="_blank" rel="nofollow">Sun Qi‐Ming;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Zhou Bo&option=202" target="_blank" rel="nofollow">Zhou Bo;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing China;</p> <p>Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing China;</p> <p>Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing China;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/1147.html" title="应用数学">应用数学;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=closed‐loop control&option=203" rel="nofollow">closed‐loop control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=MTN optimal control&option=203" rel="nofollow">MTN optimal control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=multidimensional Taylor network&option=203" rel="nofollow">multidimensional Taylor network;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=nonlinear systems&option=203" rel="nofollow">nonlinear systems;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=output tracking&option=203" rel="nofollow">output tracking;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=real‐time control&option=203" rel="nofollow">real‐time control;</a> </p> <div class="translation"> 机译：闭环控制;MTN最优控制;多维泰勒网络;非线性系统;输出跟踪;实时控制; </div> </li> </ul> </div> </div> <div class="literature cardcommon" id="literaturereference" style="display:none"> <div class="similarity "> <h3 class="all_title" id="enpatent111">引文网络</h3> <div class="referencetab clearfix"> <ul id="referencedaohang"> <li dataid="referenceul">参考文献</li> <li dataid="citationul">引证文献</li> <li dataid="commonreferenceul">共引文献</li> <li dataid="commoncitationul">同被引文献</li> <li dataid="tworeferenceul">二级参考文献</li> <li dataid="twocitationul">二级引证文献</li> </ul> </div> <div class="reference_details" id="referenceList"> <ul id="referenceul"></ul> <ul id="citationul"></ul> <ul id="commonreferenceul"></ul> <ul id="commoncitationul"></ul> <ul id="tworeferenceul"></ul> <ul id="twocitationul"></ul> </div> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704024161073.html">Multidimensional Taylor network optimal control of SISO nonlinear systems for tracking by output feedback</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Yan Hong‐Sen&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Yan Hong‐Sen,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Sun Qi‐Ming&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Sun Qi‐Ming,</a> <a 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2021-07-13</span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/patent-detail/06130405947531.html">Control apparatus and method using adaptive tracking control for uncertain switched nonlinear systems in nonstrict-feedback form</a> <b>[P]</b> . <span> 外国专利：  KR101818133B1 </span> <span> . 2018-01-15</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：用于非严格反馈形式的不确定切换非线性系统的自适应跟踪控制的控制装置和方法 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130403179586.html">Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances</a> <b>[P]</b> . <span> 外国专利：  KR101966155B1 </span> <span> . 2019-04-08</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: 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