无模型自适应控制理论几类问题的研究
|
摘要
论文以无模型自适应控制理论为出发点,针对其在一般非线性离散时间系统跟踪问题、系统扰动抑制、MIMO系统解耦、以及和其他无模型控制方法相互融合等方面存在的不足进行深入研究。研究过程中,将无模型自适应控制、滑模变结构控制、神经网络、前馈补偿及迭代反馈整定的基本思想有机结合,提出一系列无模型自适应控制的新方法。论文的主要工作及其贡献总结如下:
1、借鉴无模型自适应控制方法中SISO系统非参数动态线性化的方法,推导出一般非线性离散时问MIMO系统非参数动态偏格式线性化(Partial FormLinearization,PFL)和非参数动态全格式线性化(Full Form Linearization,FFL)定理,并给出严格的数学证明。
2、针对一般非线性离散时间系统,提出一类自适应准滑模控制(AdaptiveQuasi-Sliding Mode Control,ASMC)的新方法。首先采用非参数动态紧格式线性化(Tight Form Linearization,TFL)方法将系统线性化,再设计自适应准滑模控制器,同时给出控制算法的稳定性分析。在此基础上将该算法推广,提出基于偏格式线性化和全格式线性化的自适应准滑模控制。
3、针对一般非线性离散时间系统的不确定性和扰动抑制问题,提出一种基于神经网络估计的自适应准滑模控制算法(Neural Network Based AdaptiveQuasi-Sliding Mode Control,NN-SMC)。算法包括两部分,其一是基于紧格式动态线性化模型的自适应准滑模控制器设计,其中动态线性化方法中“伪偏导数”的估计算法仅依赖于系统I/O实时量测值。其二是采用径向基神经网络估计器来估计系统的综合不确定性。理论分析证明了系统的BIBO稳定性。仿真结果验证了所提算法的有效性。
4、针对一般非线性离散时间MIMO系统,基于非参数动态线性化模型,提出一种基于神经网络补偿的自适应准滑模解耦控制算法(Neural Network BasedAdaptive Quasi-Sliding Mode Decoupling Control,NN-SMDC)。该算法将其他回路的输入对于某一回路输出的耦合影响视为可测干扰,通过神经网络对这部分干扰进行估计、补偿,再结合滑模控制算法实现系统解耦。理论证明该算法是稳定的。
5、针对一般非线性离散时间MIMO系统,在非参数动态线性化基础上,引入自适应前馈补偿思想,提出一种基于自适应前馈补偿的解耦控制(AdaptiveFeedforward Compensation Decoupling Control,AFCDC)方法。理论分析表明所提方法能够保证系统广义跟踪误差渐近收敛到零。
6、针对一般非线性离散时间系统,提出一种基于IFT方法的无模型自适应控制器设计及其参数整定算法(IFT Based Model-Free Adaptive Control,IFT-MFAC)。该算法首先依据TFL、PFL、FFL定理推导出3种相应的控制器结构,再采用IFT方法整定控制器参数。控制器结构的合理性由线性化定理来保证,从而解决了现有IFT算法控制器结构给出时存在的盲目性。
7、在应用方面,研究了本文所提ASMC算法在直线电机控制中的应用和NN-SMDC算法在三容水箱液位控制中的应用。
This dissertation mainly focuses on some issues of the model-free adaptive control(MFAC) theory for a class of general nonlinear discrete-time SISO and MIMO systems.Regarding on the synthesis of several methods,such as the model-free adaptive control,sliding mode control,neural networks,the feedforward compensation and iterative feedback tuning(IFT),a series of new model-free adaptive control algorithms are proposed.These algorithms are designed to solve several problems such as,the tracking problem and disturbance rejection of nonlinear discrete-time SISO systems,the decoupling problem of the MIMO nonlinear discrete-time systems,and the cross-fusion research between MFAC and IFT.The main works and contributions are summarized as the following seven points.
1.Based on the non-parametric dynamic linearization method for a class of general nonlinear discrete-time SISO systems,two similar non-parametric dynamic linearization methods are developed for a class of general nonlinear discrete-time MIMO systems.
2.A series of new adaptive quasi-sliding mode control(ASMC) schemes are proposed for a class of nonlinear discrete-time systems.The tight format linearization (TFL) based linearization model of the system is adopted firstly.Secondly,based on this linearization model we propose the adaptive quasi-sliding mode control and give the theoretical analysis.Finally,another two similar adaptive quasi-sliding mode control schemes are put forward,which based on partial form linearization(PFL) and full form linearization(FFL),respectively.
3.A class of neural network based adaptive quasi-sliding mode control algorithm (NN-SMC) is developed for the disturbances rejection and uncertainty problem to the general nonlinear discrete-time systems.The algorithm includes two parts:one is the design of TFL model based adaptive quasi-sliding mode controller,whose linearization parameters,i.e.pseudo-partial-derivatives(PPD) are estimated on-line from the I/O information of the system,the other is the estimation of the system uncertainty part acquired by a NN-based predictor.The BIBO stability is proven via rigorous theoretical analysis and the simulation results validate the effectiveness of the proposed method.
4.A class of neural network based adaptive quasi-sliding mode decoupling control algorithm(NN-SMDC) is proposed for MIMO discrete-time nonlinear system.The algorithm also includes two parts:NN-based predictors and sliding mode controllers. The coupling effects among control loops are treated as the measurable disturbance which is estimated by NN-based predictors.Then the decoupling control of the MIMO systems is carried out with sliding mode control.The rigorous theoretical analysis is given also.
5.In this part,an adaptive decoupling controller with feedforward compensation (AFCDC) is presented for a class of nonlinear multivariable discrete-time dynamic systems.This design is model-free,based directly on pseudo Jacobi matrix derived on-line from the input and output information of the system.Theoretical analysis and simulation results show that the model-free indirect adaptive decoupling control system is stable and convergent.
6.Based on non-parametric dynamic linearization technique and IFT technique,a parameters' tuning method of the model-free adaptive controller(IFT-MFAC) is proposed for a class of nonlinear discrete-time systems.Three controller structures are deduced according to TFL、PFL、FFL theorem,then the controller parameters are tuned by IFT technique.The rationality of the 3 structures of the controller is assured by theorem of TFL,PFL and FFL,whereas,the controller structure is designed blindly by IFT.Obviously,the new method settles down this problem more properly.
7.In this part,ASMC and NN-SMDC algorithm are introduced into the linear motor control system and the three-tank system,respectively.The simulation results show the validity of these control schemes.
1、借鉴无模型自适应控制方法中SISO系统非参数动态线性化的方法,推导出一般非线性离散时问MIMO系统非参数动态偏格式线性化(Partial FormLinearization,PFL)和非参数动态全格式线性化(Full Form Linearization,FFL)定理,并给出严格的数学证明。
2、针对一般非线性离散时间系统,提出一类自适应准滑模控制(AdaptiveQuasi-Sliding Mode Control,ASMC)的新方法。首先采用非参数动态紧格式线性化(Tight Form Linearization,TFL)方法将系统线性化,再设计自适应准滑模控制器,同时给出控制算法的稳定性分析。在此基础上将该算法推广,提出基于偏格式线性化和全格式线性化的自适应准滑模控制。
3、针对一般非线性离散时间系统的不确定性和扰动抑制问题,提出一种基于神经网络估计的自适应准滑模控制算法(Neural Network Based AdaptiveQuasi-Sliding Mode Control,NN-SMC)。算法包括两部分,其一是基于紧格式动态线性化模型的自适应准滑模控制器设计,其中动态线性化方法中“伪偏导数”的估计算法仅依赖于系统I/O实时量测值。其二是采用径向基神经网络估计器来估计系统的综合不确定性。理论分析证明了系统的BIBO稳定性。仿真结果验证了所提算法的有效性。
4、针对一般非线性离散时间MIMO系统,基于非参数动态线性化模型,提出一种基于神经网络补偿的自适应准滑模解耦控制算法(Neural Network BasedAdaptive Quasi-Sliding Mode Decoupling Control,NN-SMDC)。该算法将其他回路的输入对于某一回路输出的耦合影响视为可测干扰,通过神经网络对这部分干扰进行估计、补偿,再结合滑模控制算法实现系统解耦。理论证明该算法是稳定的。
5、针对一般非线性离散时间MIMO系统,在非参数动态线性化基础上,引入自适应前馈补偿思想,提出一种基于自适应前馈补偿的解耦控制(AdaptiveFeedforward Compensation Decoupling Control,AFCDC)方法。理论分析表明所提方法能够保证系统广义跟踪误差渐近收敛到零。
6、针对一般非线性离散时间系统,提出一种基于IFT方法的无模型自适应控制器设计及其参数整定算法(IFT Based Model-Free Adaptive Control,IFT-MFAC)。该算法首先依据TFL、PFL、FFL定理推导出3种相应的控制器结构,再采用IFT方法整定控制器参数。控制器结构的合理性由线性化定理来保证,从而解决了现有IFT算法控制器结构给出时存在的盲目性。
7、在应用方面,研究了本文所提ASMC算法在直线电机控制中的应用和NN-SMDC算法在三容水箱液位控制中的应用。
This dissertation mainly focuses on some issues of the model-free adaptive control(MFAC) theory for a class of general nonlinear discrete-time SISO and MIMO systems.Regarding on the synthesis of several methods,such as the model-free adaptive control,sliding mode control,neural networks,the feedforward compensation and iterative feedback tuning(IFT),a series of new model-free adaptive control algorithms are proposed.These algorithms are designed to solve several problems such as,the tracking problem and disturbance rejection of nonlinear discrete-time SISO systems,the decoupling problem of the MIMO nonlinear discrete-time systems,and the cross-fusion research between MFAC and IFT.The main works and contributions are summarized as the following seven points.
1.Based on the non-parametric dynamic linearization method for a class of general nonlinear discrete-time SISO systems,two similar non-parametric dynamic linearization methods are developed for a class of general nonlinear discrete-time MIMO systems.
2.A series of new adaptive quasi-sliding mode control(ASMC) schemes are proposed for a class of nonlinear discrete-time systems.The tight format linearization (TFL) based linearization model of the system is adopted firstly.Secondly,based on this linearization model we propose the adaptive quasi-sliding mode control and give the theoretical analysis.Finally,another two similar adaptive quasi-sliding mode control schemes are put forward,which based on partial form linearization(PFL) and full form linearization(FFL),respectively.
3.A class of neural network based adaptive quasi-sliding mode control algorithm (NN-SMC) is developed for the disturbances rejection and uncertainty problem to the general nonlinear discrete-time systems.The algorithm includes two parts:one is the design of TFL model based adaptive quasi-sliding mode controller,whose linearization parameters,i.e.pseudo-partial-derivatives(PPD) are estimated on-line from the I/O information of the system,the other is the estimation of the system uncertainty part acquired by a NN-based predictor.The BIBO stability is proven via rigorous theoretical analysis and the simulation results validate the effectiveness of the proposed method.
4.A class of neural network based adaptive quasi-sliding mode decoupling control algorithm(NN-SMDC) is proposed for MIMO discrete-time nonlinear system.The algorithm also includes two parts:NN-based predictors and sliding mode controllers. The coupling effects among control loops are treated as the measurable disturbance which is estimated by NN-based predictors.Then the decoupling control of the MIMO systems is carried out with sliding mode control.The rigorous theoretical analysis is given also.
5.In this part,an adaptive decoupling controller with feedforward compensation (AFCDC) is presented for a class of nonlinear multivariable discrete-time dynamic systems.This design is model-free,based directly on pseudo Jacobi matrix derived on-line from the input and output information of the system.Theoretical analysis and simulation results show that the model-free indirect adaptive decoupling control system is stable and convergent.
6.Based on non-parametric dynamic linearization technique and IFT technique,a parameters' tuning method of the model-free adaptive controller(IFT-MFAC) is proposed for a class of nonlinear discrete-time systems.Three controller structures are deduced according to TFL、PFL、FFL theorem,then the controller parameters are tuned by IFT technique.The rationality of the 3 structures of the controller is assured by theorem of TFL,PFL and FFL,whereas,the controller structure is designed blindly by IFT.Obviously,the new method settles down this problem more properly.
7.In this part,ASMC and NN-SMDC algorithm are introduced into the linear motor control system and the three-tank system,respectively.The simulation results show the validity of these control schemes.
引文
[1]侯忠生.非参数模型及其自适应控制理论[M].北京:科学出版社,1999
[2]侯忠生.无模型自适应控制的现状与展望[J].控制理论与应用,2006,vol.23(4):586-592
[3](?)str(o|¨)m K.J.& H(a|¨)gglund.T.,The future of PID control[J],Control Engineering Practice,2001,9(11):1163-1175
[4]王伟,张晶涛,柴天佑.PID参数先进整定方法综述[J].控制理论与应用,2000,26(3)347-355
[5]Uchiyama M.,Formulation of high-speed motion pattern of a mechanical arm by trial[J],Transactions of the Society of Instrumentation and Control Engineers,1978,14(6):706-712
[6]Arimoto S.,Kawamura S.,& Miyazaki F.,Bettering operation of robots by learning[J],Journal of Robotic Systems,1984,1(2):123-140
[7]Bien Z.,& Xu J.X.,Iterative Learning Control:Analysis,Design,Integration and Applications[M],Boston/Dordrecht/London:Kluwer Academic Publishers,1998
[8]Chen Y.Q.,& Wen C.Y.,Iterative Learning Control:Convergence,Robustness and Applications[M],London:Springer-Verlag,1999
[9]孙明轩,黄宝健.迭代学习控制[M]北京:国防工业出版社,1999
[10]Xu J.X.,& Tan Y.,Linear and Nonlinear Iterative Learning Control[M],Berlin Heidelberg:Springer-Verlag,2003
[11]许建新,侯忠生.学习控制的现状与发展[J].自动化学报,2005,31(6):943-955
[12]Moore K.L.,Chen Y.Q,& Ahn H S.,Iterative learning control:a tutorial and big picture view[C],In:Proceedings of the 45th IEEE Conference on Decision and Control,San Diego,CA,USA,2006,2352-2357
[13]Chi R.H.,Hou Z.S.,& Xu J.X.,Adaptive ILC for a class of discrete-time systems with iteration-varying trajectory and random initial condition[J],Automatica,2008,44(8):2207-2213
[14]韩京清.控制理论-模型论还是控制论[J].系统科学与数学,1989,9(4):328-335
[15]韩京清.非线性PID控制器[J].自动化学报,1994,20(4):487-490
[16]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23
[17]侯忠生.非线性系统参数辨识,自适应控制及无模型学习自适应控制[D].沈阳:东北大学博士学位论文,1994
[18]Hou Z.S.,& Huang W.H.,The model-free learning adaptive control of a class of SISO nonlinear systems[J],In:Proceedings of the 1997 American Control Conference,Albuquerque,New Mexico,1997,343-344
[19]Hou Z.S.,& Huang W.H.,The model-free learning adaptive control of a class of nonlinear discrete-time systems[J],Control Theory & Applications,1998,15(16):893-899
[20]Hjalmarsson H.,Gunnarsson S.,& Gevers M.,A convergent iterative restricted complexity control design scheme[C],In:Proceedings of the 33th IEEE Conference on Decision and Control,Orlando,FL,USA,1994,1735-1740
[21]Hjalmarsson H.,Gevers M.,Gunnarsson S.,& Lequin O.,Iterative feedback tuning:theory and applications[J],IEEE Control System Magazine,1998,18(4):26-41
[22]Hjalmarsson H.,Iterative feedback tuning-an overview[J],International Journal of Adaptive Control and Signal Processing,2002,16(5):373-395
[23]Safonov M.G.& Tsao T.C.,The unfalsied control concept:a direct path from experiment to controller,in Feedback Control,Nonlinear Systems and Complexity[M],Berlin:Springer-Verlag,1995,196-214
[24]Safonov M.G.& Tsao T.C.,The unfalsified control concept and learning[J],IEEE Transactions On Automatic Control,1997,42(6):843-847
[25]Guardabassi G.O.& Savaresi S.M.,Virtual reference direct design method:an oft-line approach to data-based control system design[J],IEEE Transactions On Automatic Control,2000,45(5):954-959
[26]Campi M.C.,Lecchini A.,& Savaresi S.M.,Virtual reference feedback tuning(VRFT):a new direct approach to the design of feedback controllers[C],In:Proceedings of the 39th IEEE Conference on Decision and Control,12-15 Dec.2000,623-629
[27]Sala A.,Integrating virtual reference feedback tuning into a unified closed-loop identification framework[J],Automatica,2007,43(8):178-183
[28]韩京清,王伟.非线性跟踪微分器[J].系统科学与数学,1994,4(2):177-183
[29]韩京清.一种新型控制器-NLPID[J].控制与决策,1994,9(6):401-407
[30]韩京清.利用非线性特性改进PID控制律[J].信息与控制,1995,24(6):356-364
[31]韩京清.一类不确定对象的扩张状态观测器[J].控制与决策,1995,10(1):85-88
[32]韩京清,袁露林.跟踪微分器的离散形式[J].系统科学与数学,1999,19(3):268-273
[33]韩京清.非线性状态误差反馈控制律NLSEF[J].控制与决策,1995,10(3):221-225
[34]黄焕袍,万辉,韩京清.安排过渡过程是提高闭环系统”鲁棒性、适应性和稳定性”的一种有效方法[J].控制理论和应用,2001,18(增):89-94
[35]张文革.时间尺度与自抗扰控制器[D].北京:中国科学院系统科学研究所博士学位论文,1999
[36]韩京清.控制系统的非光滑综合[C].中国控制会议论文集,香港,香港城市学,2000
[37]宋金来,韩京清.平台式惯导系统的快速初始对准方法的研究[J].中国惯性技术学报,2002,10(1):25-29
[38]黄焕袍,武利强,韩京清等.火电单元机组协调系统的自抗扰控制方案研究[J].中国电机工程学报,2004,24(10):168-173
[39]黄焕袍,武利强,高峰等.自抗扰控制在火电厂主汽温控制中的应用[J].系统仿真学报,2005,17(1):241-244
[40]Su Y.X.,Zheng C.H.,& Duan B.Y.,Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors[J],IEEE Transactions on Industrial Electronics,2005,52(3),814-823
[41]Miklosovic R.,& Gao Z.Q.,A robust two-degree-of-freedom control design technique and its practical application[C],In:Industry Applications Conference,39th IAS Annual Meeting,2004,3:1495-1502
[42]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,2000,45(13):1373-1379
[43]韩京清,张荣.二阶扩张状态观测器的误差分析[J].系统科学与数学,1999,10(4):465-471
[44]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18
[45]Tan K.K.,Lee T.H.,& Huang S.N.,Adaptive-predictive control of a class of SISO nonlinear systems[J],Dynamics and Control,2001,11(2):151-174
[46]张彬,张卫东.基于动态线性化的非线性系统的自适应预测函数控制[J].控制与决策,2005,20(11):1274-1278
[47]池荣虎.非线性离散时间系统的自适应迭代学习控制及应用[D].北京:北京交通大学博士学位论文,2006
[48]Chi R.H.& Hou Z.S.,Optimal higher order learning adaptive control for a class of SISO nonlinear systems[J],Journal of Control Theory and Applications,2005,3(3);247-251
[49]李明忠,王福利.基于递归神经网络的一类非线性无模型系统的自适应控制[J].控制与决策,1997,12(1):64-72
[50]Zhang B,Zhang W.D.,Adaptive predictive functional control of a class of nonlinear systems[J],ISA Trans.2006,45(2):175-183
[51]曹荣敏,侯忠生.PH值中和反应过程的无模型学习自适应控制[J].计算机工程与应用,2006,42(28):191-194
[52]Tan K.K.,Huang S.N.,& Lee T.H.,Adaptive predictive PI control of a class of SISO systems[C],In:Proceedings of the 1999 American Control Conference,San Diego,California,USA,1999,3848-3852
[53]曹荣敏,侯忠生.无模型控制方法在直线电机控制中的仿真研究[J].系统仿真学报,2006,18(10):2874-2877,2881
[54]韩志刚.无模型控制方法在化肥生产中的应用[J].控制理论与应用,2004,21(6):858-863
[55]韩志刚,蒋爱萍.合成氨生产中的氢氮比控制系统[J].控制理论与应用,2005,22(7):762-766
[56]周强,翟伟廉.安装MR阻尼器工程结构的非参数模型自适应控制[J].地震攻城与工程振动,2004,24(4):127-132
[57]保宏,段宝岩,陈光达.索系馈源支撑结构控制方法的研究[J].机械设计与研究,2005,21(2):64-66
[58]李传庆,刘广生.锅炉汽包水位MFAC-PID串级控制方案的仿真研究[J].东北电力学院学报,2005,25(4):11-15
[59]刘纯国,隋振,付文智,李明哲.板材多点成形过程的非参数模型及自适应控制[J].控制工程,2004,11(4):306-308
[60]王春蔚.基于无模型自适应控制理论的局部入口匝道控制系统研究[D].北京:北京交通大学硕士学位论文,2005
[61]Kammer L.C.,De Bruyne F.,& Bitmead R.R.,Iterative feedback tuning via minimization of the absolute error[C],In:Proceedings of the 38th Conference on Decision and Control,Phoenix,Arizona USA,1999,4619-4624
[62]Mossberg M.,Controller tuning via minimization of time weighted absolute error[C],In:Proceeding of the American Control Conference,Boston,Massachusetts,2004,2740-2744
[63]Proch(?)zka H.,& Gevers M.,Iterative feedback tuning for robust controller design and optimization[C],In:Proceedings of the 44th IEEE Conference on Decision and Control,and the European Control Conference,Sevill,Spain,2005,3602-3607
[64]Veres S.,& Hjalmarsson H.,Tuning for robustness and performance using iterative feedback tuning[C],In:Proceedings of the 41st Conference on Decision and Control,Las Vegas,Nevada USA,2002,4682-4687
[65]Graham A.E.,Young A.J.,& Xie S.Q.,Rapid tuning of controllers by IFT for profile cutting machines[J],Mechatronics,2007,17(2-3):121-128
[66]Sung E.J.,& Sang W.K.,Normalized iterative feedback tuning with PD-type modified feedback experiment[C],In:Proceedings of ISIE 2001,Pusan,Korea,2001,1192-1197
[67]Solari G.,& Gevers M.,Unbiased estimation of the hessian for iterative feedback tuning[C],In:Proceedings of the 43th IEEE Conference on Decision and Control,Atlantis,Paradise island,Bahanmas,2004,1759-1760
[68]Sj(o|¨)berg J.,& Aarwal M.,Model-free repetitive control design for nonlinear systems[C],In:Proceedings of the 35th IEEE Conference on Decision and Control,Kobe,Japan,1996,2824-2829
[69]Sj(o|¨)berg J.,& Aarwal M.,Nonlinear controller tuning based on linearized time-variant model[C],In:Proceeding of the American Control Conference,Albuquerque,New Mexico,1997,3336-3340
[70]Sj(o|¨)berg J.,De Bruyne F.,& Agarwal M.,Iterative controller optimization for nonlinear system[J],Control Engineering Practice,2003,11(9):1079-1086
[71]Hjalmarsson H.,& Birkeland T.,Iterative feedback tuning of linear time-invariant MIMO systems[C],In:Proceedings of the 37th IEEE Conference on Decision and Control,1998,3893-3898
[72]De Bruyne F.,Iterative feedback tuning for internal model controllers[J],Control Engineering Practice,2003,11(9):1043-1048
[73]Ho W.K.,Hong Y.,Hansson A.,Hjalmarsson H.& Deng J.W.,Relay auto-tuning of PID controllers using iterative feedback tuning[J],Automatica,2003,39(1):149-157
[74]Olivier L.,Michel G.,& Magnus M.,Iterative feedback tuning of PID parameters:comparison with classical tuning rules[J],Control Engineering Practice,2003,11(9):1023-1033
[75]Koumboulis F.N,Tzamtzi M.P.,& Hamilothoris G.E.,Iterative feedback tuning for safe switching controllers[C],In:Proceedings of the 13th Mediterranean Conference on Control and Automation,Limassol,Cyprus,2005,938-945
[76]王卫红,侯忠生.基于迭代反馈调整的直流双闭环调速系统设计[C].第25届中国控制会议,哈尔滨,中国,2006,1750-1753
[77]Codrons B.,De Bruyne F.,De Wan M.& Gevers M.,Iterative feedback tuning of a nonlinear controller for an inverted pendulum with a flexible transmission[C],In:Proceedings of the IEEE International Conference on Control Application,Trieste,Italy,1998,1281-1285
[78]Hjalmarsson H.,Fukuda K.,& Sugie T.,Iterative feedback tuning of controllers for a two-mass spring system with friction[C],In:Proceedings of the 39th IEEE Conference on Decision and Control,2000,2438-2443
[79]Arthur T.,Ho W.K.,Deng J.W.,& Lok B.K.,Control of photoresist film thickness:iterative feedback tuning approach[J],Computers and Chemical Engineering,2006,30(3):572-579
[80]王卫红,侯忠生,金尚泰.迭代反馈整定方法综述[C].第26届中国控制会议,张家界,中国,2007,14-18
[81]Safonov M.G.,Unfalsified control:A behavioral approach to learning and adaptation[C],In:Proceedings of the 40th IEEE Conference on Decision and Control,Orlando,Florida,USA,2001,2682-2685
[82]Myungsoo J.& Safonov M.G.,Automatic PID tuning:an application of unfalsified control[C],In:Proceedings of the IEEE International Symposium on Computer Aided Control System Design,Hawai(?)i,USA,1999,328-333
[83]Saeki M.,Unfalsified control approach to parameter space design of PID controllers[C],In:Proceedings the 42th IEEE Conference on Decision and Control,2003,3250-3255
[84]Saeki M.,Hamada O.,Wada,N.& Masubuchi,I.,PID gain tuning based on falsification using bandpass filters[C],In:Proceedings of SICE-ICASE,International Joint Conference,2006,4032-4037
[85]Tsao T.C.,& Safonov M.G,Unfalsifled direct adaptive control of a two-link robot arm[C],In:Proceedings of the IEEE International Symposium on Computer Aided Control System Design,Hawai'i,USA,1999,680-686
[86]Brugarolas P.B.,Fromion V.,& Safonov M G,Robust switching missile autopilot[C],In:Proceedings of American Control Conference,Philadelphia,USA,1998,3665-3669
[87]Van Helvoort J.,De Jager B.,& Steinbuch M.,Sufficient conditions for data-driven stability of ellipsoidal unfalsified control[C],In:Proceedings of 45th IEEE Conference on Decision and Control,2006,453-458
[88]Van Heivoort J.,De Jager B.,& Steinbuch M.,Ellipsoidal unfalsified control:stability[C],In:Proceedings of American Control Conference,2006,4095-4099
[89]Nakamoto M.,An application of the virtual reference feedback tuning for an MIMO process[C],In:Proceedings of SICE 2004 Annual Conference,2004,3:2208-2213
[90]Campi M.C.,& Savaresi S.M.,Virtual reference feedback tuning for non-linear systems[C],In:Proceedings of 44th IEEE conference on Decision and Control and European Control Conference,2005,6608-6613
[91]Campi M.C.,& Savaresi S.M.,Direct nonlinear control design:the virtual reference feedback tuning approach[J],IEEE Transactions On Automatic Control,2006,51(1):14-27
[92]Campi M.C.,Lecchini A.& Savaresi S.M.,Virtual reference feedback tuning:a direct method for the design of feedback controllers[J],Automatica,2002,38(8):1337-1346
[93]Lecchini A.,Campi M.C.,& Savaresi S.M.,Sensitivity shaping via virtual reference feedback tuning[C],In:Proceedings of the 40th IEEE Conference on Decision and Control,2001,750-755
[94]Lecchini A.,Campi M.C.& Savaresi S.M.,Virtual reference feedback tuning for two degree of freedom controllers[J],International Journal of Adaptive Control and Signal Process,2002,special issue on controller design,16:355-371
[95]Antonio Sala,& Alicia Esparza,Extensions to "virtual reference feedback tuning:a direct method for the design of feedback controllers"[J],Automatica,2005,41(8):1473-1476
[96]Previdi F.,Sehauer T.,Savaresi S.M.,& Hunt,K.J.,Data-driven control design for neuroprotheses:a virtual reference feedback tuning(VRFT) approach[J],IEEE Transactions on Control Systems Technology,2004,12(1):176-182
[97]Previdi F.,Ferrarin M.,Savaresi S.M.,& Bittanti S.,Closed-loop control of FES supported standing up and sitting down using virtual reference feedback tuning[J],Control Engineering Practice,2005,13(9):1173-1182
[98]刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3):407-418
[99]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆:重庆大学出版社,1997
[100]Xing H.Y.,Discrete variable structure control systems[J],International Journal of System Science,1993,24(2):273-386
[101]Sarptuk S.Z,Istefanoplos Y.,& Kaynak O.,On the stability of discrete times sliding mode control systems[J],IEEE Transactions On Automatic Control,1987,32(10):930-932
[102]Furuta K.,Sliding mode control of a discrete system[J],Systems & Control Letters,1990,14(2):145-152
[103]高为炳.离散时间系统的变结构控制[J].自动化学报,1995,21(2):154-161
[104]Gao W.B.,Wang Y.,& Homaifa A.,Discrete-time variable structure control systems[J],IEEE Trans.Industrial Electronics,1995,42(2):117-122
[105]Chan C.Y.,Discrete-time adaptive sliding mode control of a linear system in state-space form[J],International Journal of Control,1999,67(6):859-868
[106]Bartolinl G & Ferrara A.,Adaptive sliding mode control in discrete-time systems[J],Automatica,1995,31(5):769-733
[107]Hedrick J.K.& Won M.,Disturbance adaptive discrete-time sliding mode control with application to engine speed control[J],Journal of Dynamic Systems,Measurement and Control,2002,123(4):1-9
[108]Mufioz D.,An adaptive sliding mode controller for discrete nonlinear systems[J],IEEE Transactions on Industrial Electronics,2000,47(3):574-581
[109]Chen X.K.,Adaptive quasi sliding mode tracking control for discrete uncertain input-output systems[J],IEEE Transactions on Industrial Electronics,2001,48(1):216-224
[110]Sha D.H.& Vladimir B.,Robust discrete adaptive input-output based sliding mode controller[J],International Journal of Systems Science,2000,32(12):1601-1614
[111]Xu X.H.,Wu Y.H.& Huang W.H.,Variable structure control approach of decentralized model-reference adaptive systems[C],In:IEE Proceedings on Control Theory and Applications,1990,137(5):302-306
[112]Askew C.& Sundareshan K.,Adaptive variable structure control of flexible manipulators by neural network payload identification[C],In:Proceeding of the 32th IEEE Conference on Decision and Control,1993,3249-3250
[113]葛红,毛宗源.变结构神经网络模糊控制器的研究[J].控制理论与应用,1999,16(2):184-189
[114]袁著祉,卢钊,陈增强.不确定性系统的神经网络变结构控制[J].南开大学学报,2000,34(4):48-52
[115]Goodwin G.C.,& Sin K.S.,Adaptive Filtering Prediction and Control[M],New Jersey:Prentice-Hall,Inc.,Englewood Cliffs,1984
[116](?)str(o|¨)m K.J.,& Wittenmark B.,Adaptive Control[M],Reading MA:Lund Institute of Technology,Addison-Wesley,1989
[117]韩曾晋.自适应控制[M].北京:清华大学出版社,1995
[118]王昕.多模型自适应解耦控制器的研究[D].沈阳:东北大学博士学位论文,2002
[119]Wittenmark B.,Middleton R.& Goodwin G.C.,Adaptive decoupling of multivariable systems[J],International Journal of Control,1987,46(6):1993-2009
[120]Teng F.C.,& Ledwich G.F.,Adaptive decouplers for multivariable systems:input dynamic compensation and output feedback approaches[J],International Journal of Control,1992,55(2):373-391
[121]Wahba A.M.& Sheirah M.A.,Adaptive decoupler for multivariable systems[J],International Journal of Systems Science,1993,21(1) 97-109
[122]McDermot P.E.,& Meltichamp D.A.,A decoupling pole-placement self-tuning Controller for a class of multivariable process[J],Optimal Control Applications and Methods,1986,7(1): 35-79
[123]Lang S.J,Gu X.Y.& Chai T.Y.,A multivariable generalized self-tuning controller with decoupling design[J],IEEE Transactions on Automatic Control,1986,31(5):474-477
[124]Chai T.Y.,Lang S.J,& Gu X.Y.,A generalized self-tuning feedforward controller and Multivariable application[C],In:Proceedings of the 24th IEEE Conference on Decision and Control,New York,USA,1985,862-867
[125]柴天佑,郎世俊,顾兴源.多变量自校正前馈控制器及其应用[J].自动化学报,1986,12(3):229-236
[126]柴天佑.多变量自校正解耦制器的全局收敛性分析[J].自动化学报,1989,15(5):432-436
[127]柴天佑.具有参数强一致收敛的多变量自校正前馈控制器[J].自动化学报,1991,17(3):264-272
[128]Chai T.Y.,A self-tuning decoupling controller for a class of multivariable systems and global convergence analysis[J],IEEE Transactions On Automatic Control 1988,33(8):767-771
[129]Chai T.Y.,Direct adaptive decoupling control for general stochastic multivariable systems[J],International Journal of Control,1990,51(4):885-909
[130]柴天佑.多变量自适应解耦控制及应用[M].北京:科学出版社,2001
[131]岳恒.一类多变量非线性系统的神经网络自适应解耦控制[D].沈阳:东北大学博士学位论文,1999
[132]富月,柴天佑,岳恒.一类非线性多变量系统的多模型自适应解耦控制[J].控制与决策,2006,21(2):139-147
[133]Chen L.J.,& Narendra K.S.,Nonlinear adaptive control using neural networks and multiple models[J],Automatica,2001,37(8):1245-1255
[134]张化光,杨英旭,柴天佑.多变量模糊控制的现状与发展(Ⅱ)[J].控制与决策,1995,7(4):289-295
[135]Xu C.W.,& Lu Y.Z.,Decoupling in fuzzy systems:a cascade compensation approach[J],Fuzzy Sets and Systems,1989,29(2):177-185
[136]Gupta M.M.,Multivariable structure of fuzzy control systems[J],IEEE Transactions on System,Man and cybernetics,1986,16(5):638-656
[137]王殿辉,柴天佑,张化光.一种Fuzzy推理合成的新算法[J].控制与决策,1994,9(1):59-63
[138]夏小华,高为炳.非线性系统控制及解耦[M].北京:科学出版社,1997
[139]吴黎明,柴天佑.一类非线性离散时间系统的神经网络解耦策略[J].自动化学报,1997,23(2):207-212
[140]岳恒,柴天佑.一类多变量非线性系统的神经网络自适应解耦控制[J].信息与控制,1999,28(7):607-612
[141]Fu Y.& Chai T.Y.,Nonlinear indirect adaptive decoupling control based on neural networks and multiple models[C],In:Proceeding of the 2006 American control conference.2006,USA,3692-3697
[142]Goodwin G C.,Ramadge P.J.,& Caines P.E.,Discrete-time multivariable adaptive control[J],IEEE Transactions On Automatic Control,1980,25(3):449-456
[143]郭雷.时变随机系统[M].长春:吉林科学技术出版社,1992
[144]Anbunmani K.,Patnaik L.M.,& Serma I.G.,Self-tuning minimum variance control of nonlinear systems of the Hammerstein model[J],IEEE Transactions On Automatic Control, 1981,26(4):959-961
[145]Zhang J.X.,& Lang S.J.,Explicit self-tuning control for a class of nonlinear systems[J],Automatica,1989,25(4):593-599
[146]Pajunen G,Adaptive control of Wiener type nonlinear systems[J],Automatica,1992,28(4):781-785
[147]Sung D.J.T.,& Lee T.T.,Model reference adaptive control of nonlinear systems using the Wiener model[J],International Journal of Control,1987,18(3):581-599
[148]Svoronos S.,Stephanopoulos G,& Aris R.,On bilinear estimation and control[J],International Journal of Control,1981,34(4):651-684
[149]Sales K.R.,& Billings S.A.,Self-tuning control of nonlinear ARMAX models[J],International Journal of Control,1990,51(4):753-769
[150]Ge S.S.,Li G.Y.,& Lee T.H.,Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems[J],Automatica,2003,39(5):807-819
[151]Yeh,P.C.,& Kokotovic,P.V.,Adaptive control of a class of nonlinear discrete-time systems[J],International Journal of Control,1995,62(2):303-324
[152]Ge S.S.,Lee T.H.,Li GY.,& Zhang J.,Adaptive NN control for a class of discrete-time nonlinear systems[J],International Journal of Control,2003,76(4):334-354
[153]Zhang J.,Ge S.S.& Lee T.H.,Output feedback control of a class of discrete MIMO nonlinear systems with triangular form inputs[J],IEEE Transactions On Neural Networks,2005,16(6):1491-1503
[154]Chen F.C.,& Khalil H.K.,Adaptive control of a class of nonlinear discrete-time systems using neural networks[J],IEEE Transactions On Automatic Control,1995,40(5):791-801
[155]Ge S.S.,Hong F.& Lee T.H.,Adaptive neural network control of nonlinear systems with unknown time delays[J],IEEE Transactions On Automatic Control,2003,48(11):2004-2010
[156]Ge S.S.,Li G.Y.,Zhang J.,& Lee T.H.,Direct adaptive control for a class of MIMO nonlinear systems using neural networks[J],IEEE Transactions On Automatic Control,2004,49(11):2001-2006
[157]翟长连,吴智铭.不确定离散时间系统的变结构控制设计[J].自动化学报,2000,26(2):184-191
[158]Narendra K.S.& Parthasarathy K.,Identification and control of dynamical systems using neural networks[J],IEEE Transactions on Neural Networks,1990,1(1):4-27
[159]Mukhopadhyay S.& Narendra K.S.,Disturbance rejection in nonlinear systems using neural networks[J],IEEE Transactions on Neural Networks,1993,4(1):63-72
[160]Chan C.Y.,Discrete adaptive sliding-mode control tracking controllers[J],Automatica,1997,33(5):999-1002
[161]Chan S.P.,An approach to perturbation compensation for variable structure systems[J],Automatica,1996,32(3):469-473
[162]Chan C.Y.,Robust discrete quasi-sliding mode tracking controller[J],Automatica,1995,31(10):1509-1511
[163]郭庆鼎,王成元,周美文.直线交流伺服系统的精密控制技术[M].北京:机械工业出版社,2000
[164]艾武,程立.基于DSP的直线电机位置检测与控制技术[J].机械与电子,2004,(2):29-32
[165]Pritschow G,& Philipp W.,Direct drives for high-dynamic machine tool axes[J],CIRP Annals-Manufacturing Technology,1990,39(1):413-416
[166]Wang G.J.,Fong C.T.,& Chang K.J.,Neural-network-based self-tuning PI controller for precise motion control of PMAC motors[J],IEEE Transactions on Industrial Electronics,2001,48(2):408-415
[167]张代林,陈幼平,艾武,周祖德.基于MRAC方法的直线电机的位置角度校正技术[J].控制理论与应用,2007,24(4):687-691
[168]颜菡,王先逵,段广洪,赵彤.H_∞鲁棒控制在精密直线电机位移装置中的应用[J].清华大学学报-自然科学版,2006,46(11):1828-1831
[169]孙宜标,郭庚鼎.基于滑模观测器的直线伺服系统反馈线性化速度跟踪控制[J].控制理论与应用,2004,21(3):391-397
[170]林岩,毛剑琴.低增益变结构模型参考自适应控制器设计[J].控制理论与应用,2001,18(5):690-696
[171]Chen J.S.,Chen K.C.,Lai Z.C.,& Huang Y.K.,Friction characterization and compensation of a linear-motor rolling-guide stage[J],International Journal of Machine Tools and Manufacture,2003,43(9):905-915
[172]Hassan Yousefi,Markus Hirvonen,Heikki Handroos & Azita Soleymani,Application of neural network in suppressing mechanical vibration of a permanent magnet linear motor[J],Control Engineering Practice,2008,16(7):787-797
[173]Wang T.,Zhou D.H.,Jin Y.H.,& Qin S.J.,Adaptive generic model control for a class of nonlinear time-varying processes with input time delay[J],Journal of Process Control,2004,14(5):517-531
[174]Hou M,Xiong Y.S.& Patton R.J.,Observing a three-tank system[J],IEEE Transactions on Control Systems Technology,2005,13(3):478-484
[175]李莹.非线性智能滑模变结构控制理论与应用研究[D].哈尔滨:哈尔滨工业大学博士学位论文,2000
[176]张益波.基于支持向量机的变结构控制方法研究[D].杭州:浙江大学博士学位论文,2006
[2]侯忠生.无模型自适应控制的现状与展望[J].控制理论与应用,2006,vol.23(4):586-592
[3](?)str(o|¨)m K.J.& H(a|¨)gglund.T.,The future of PID control[J],Control Engineering Practice,2001,9(11):1163-1175
[4]王伟,张晶涛,柴天佑.PID参数先进整定方法综述[J].控制理论与应用,2000,26(3)347-355
[5]Uchiyama M.,Formulation of high-speed motion pattern of a mechanical arm by trial[J],Transactions of the Society of Instrumentation and Control Engineers,1978,14(6):706-712
[6]Arimoto S.,Kawamura S.,& Miyazaki F.,Bettering operation of robots by learning[J],Journal of Robotic Systems,1984,1(2):123-140
[7]Bien Z.,& Xu J.X.,Iterative Learning Control:Analysis,Design,Integration and Applications[M],Boston/Dordrecht/London:Kluwer Academic Publishers,1998
[8]Chen Y.Q.,& Wen C.Y.,Iterative Learning Control:Convergence,Robustness and Applications[M],London:Springer-Verlag,1999
[9]孙明轩,黄宝健.迭代学习控制[M]北京:国防工业出版社,1999
[10]Xu J.X.,& Tan Y.,Linear and Nonlinear Iterative Learning Control[M],Berlin Heidelberg:Springer-Verlag,2003
[11]许建新,侯忠生.学习控制的现状与发展[J].自动化学报,2005,31(6):943-955
[12]Moore K.L.,Chen Y.Q,& Ahn H S.,Iterative learning control:a tutorial and big picture view[C],In:Proceedings of the 45th IEEE Conference on Decision and Control,San Diego,CA,USA,2006,2352-2357
[13]Chi R.H.,Hou Z.S.,& Xu J.X.,Adaptive ILC for a class of discrete-time systems with iteration-varying trajectory and random initial condition[J],Automatica,2008,44(8):2207-2213
[14]韩京清.控制理论-模型论还是控制论[J].系统科学与数学,1989,9(4):328-335
[15]韩京清.非线性PID控制器[J].自动化学报,1994,20(4):487-490
[16]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23
[17]侯忠生.非线性系统参数辨识,自适应控制及无模型学习自适应控制[D].沈阳:东北大学博士学位论文,1994
[18]Hou Z.S.,& Huang W.H.,The model-free learning adaptive control of a class of SISO nonlinear systems[J],In:Proceedings of the 1997 American Control Conference,Albuquerque,New Mexico,1997,343-344
[19]Hou Z.S.,& Huang W.H.,The model-free learning adaptive control of a class of nonlinear discrete-time systems[J],Control Theory & Applications,1998,15(16):893-899
[20]Hjalmarsson H.,Gunnarsson S.,& Gevers M.,A convergent iterative restricted complexity control design scheme[C],In:Proceedings of the 33th IEEE Conference on Decision and Control,Orlando,FL,USA,1994,1735-1740
[21]Hjalmarsson H.,Gevers M.,Gunnarsson S.,& Lequin O.,Iterative feedback tuning:theory and applications[J],IEEE Control System Magazine,1998,18(4):26-41
[22]Hjalmarsson H.,Iterative feedback tuning-an overview[J],International Journal of Adaptive Control and Signal Processing,2002,16(5):373-395
[23]Safonov M.G.& Tsao T.C.,The unfalsied control concept:a direct path from experiment to controller,in Feedback Control,Nonlinear Systems and Complexity[M],Berlin:Springer-Verlag,1995,196-214
[24]Safonov M.G.& Tsao T.C.,The unfalsified control concept and learning[J],IEEE Transactions On Automatic Control,1997,42(6):843-847
[25]Guardabassi G.O.& Savaresi S.M.,Virtual reference direct design method:an oft-line approach to data-based control system design[J],IEEE Transactions On Automatic Control,2000,45(5):954-959
[26]Campi M.C.,Lecchini A.,& Savaresi S.M.,Virtual reference feedback tuning(VRFT):a new direct approach to the design of feedback controllers[C],In:Proceedings of the 39th IEEE Conference on Decision and Control,12-15 Dec.2000,623-629
[27]Sala A.,Integrating virtual reference feedback tuning into a unified closed-loop identification framework[J],Automatica,2007,43(8):178-183
[28]韩京清,王伟.非线性跟踪微分器[J].系统科学与数学,1994,4(2):177-183
[29]韩京清.一种新型控制器-NLPID[J].控制与决策,1994,9(6):401-407
[30]韩京清.利用非线性特性改进PID控制律[J].信息与控制,1995,24(6):356-364
[31]韩京清.一类不确定对象的扩张状态观测器[J].控制与决策,1995,10(1):85-88
[32]韩京清,袁露林.跟踪微分器的离散形式[J].系统科学与数学,1999,19(3):268-273
[33]韩京清.非线性状态误差反馈控制律NLSEF[J].控制与决策,1995,10(3):221-225
[34]黄焕袍,万辉,韩京清.安排过渡过程是提高闭环系统”鲁棒性、适应性和稳定性”的一种有效方法[J].控制理论和应用,2001,18(增):89-94
[35]张文革.时间尺度与自抗扰控制器[D].北京:中国科学院系统科学研究所博士学位论文,1999
[36]韩京清.控制系统的非光滑综合[C].中国控制会议论文集,香港,香港城市学,2000
[37]宋金来,韩京清.平台式惯导系统的快速初始对准方法的研究[J].中国惯性技术学报,2002,10(1):25-29
[38]黄焕袍,武利强,韩京清等.火电单元机组协调系统的自抗扰控制方案研究[J].中国电机工程学报,2004,24(10):168-173
[39]黄焕袍,武利强,高峰等.自抗扰控制在火电厂主汽温控制中的应用[J].系统仿真学报,2005,17(1):241-244
[40]Su Y.X.,Zheng C.H.,& Duan B.Y.,Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors[J],IEEE Transactions on Industrial Electronics,2005,52(3),814-823
[41]Miklosovic R.,& Gao Z.Q.,A robust two-degree-of-freedom control design technique and its practical application[C],In:Industry Applications Conference,39th IAS Annual Meeting,2004,3:1495-1502
[42]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,2000,45(13):1373-1379
[43]韩京清,张荣.二阶扩张状态观测器的误差分析[J].系统科学与数学,1999,10(4):465-471
[44]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18
[45]Tan K.K.,Lee T.H.,& Huang S.N.,Adaptive-predictive control of a class of SISO nonlinear systems[J],Dynamics and Control,2001,11(2):151-174
[46]张彬,张卫东.基于动态线性化的非线性系统的自适应预测函数控制[J].控制与决策,2005,20(11):1274-1278
[47]池荣虎.非线性离散时间系统的自适应迭代学习控制及应用[D].北京:北京交通大学博士学位论文,2006
[48]Chi R.H.& Hou Z.S.,Optimal higher order learning adaptive control for a class of SISO nonlinear systems[J],Journal of Control Theory and Applications,2005,3(3);247-251
[49]李明忠,王福利.基于递归神经网络的一类非线性无模型系统的自适应控制[J].控制与决策,1997,12(1):64-72
[50]Zhang B,Zhang W.D.,Adaptive predictive functional control of a class of nonlinear systems[J],ISA Trans.2006,45(2):175-183
[51]曹荣敏,侯忠生.PH值中和反应过程的无模型学习自适应控制[J].计算机工程与应用,2006,42(28):191-194
[52]Tan K.K.,Huang S.N.,& Lee T.H.,Adaptive predictive PI control of a class of SISO systems[C],In:Proceedings of the 1999 American Control Conference,San Diego,California,USA,1999,3848-3852
[53]曹荣敏,侯忠生.无模型控制方法在直线电机控制中的仿真研究[J].系统仿真学报,2006,18(10):2874-2877,2881
[54]韩志刚.无模型控制方法在化肥生产中的应用[J].控制理论与应用,2004,21(6):858-863
[55]韩志刚,蒋爱萍.合成氨生产中的氢氮比控制系统[J].控制理论与应用,2005,22(7):762-766
[56]周强,翟伟廉.安装MR阻尼器工程结构的非参数模型自适应控制[J].地震攻城与工程振动,2004,24(4):127-132
[57]保宏,段宝岩,陈光达.索系馈源支撑结构控制方法的研究[J].机械设计与研究,2005,21(2):64-66
[58]李传庆,刘广生.锅炉汽包水位MFAC-PID串级控制方案的仿真研究[J].东北电力学院学报,2005,25(4):11-15
[59]刘纯国,隋振,付文智,李明哲.板材多点成形过程的非参数模型及自适应控制[J].控制工程,2004,11(4):306-308
[60]王春蔚.基于无模型自适应控制理论的局部入口匝道控制系统研究[D].北京:北京交通大学硕士学位论文,2005
[61]Kammer L.C.,De Bruyne F.,& Bitmead R.R.,Iterative feedback tuning via minimization of the absolute error[C],In:Proceedings of the 38th Conference on Decision and Control,Phoenix,Arizona USA,1999,4619-4624
[62]Mossberg M.,Controller tuning via minimization of time weighted absolute error[C],In:Proceeding of the American Control Conference,Boston,Massachusetts,2004,2740-2744
[63]Proch(?)zka H.,& Gevers M.,Iterative feedback tuning for robust controller design and optimization[C],In:Proceedings of the 44th IEEE Conference on Decision and Control,and the European Control Conference,Sevill,Spain,2005,3602-3607
[64]Veres S.,& Hjalmarsson H.,Tuning for robustness and performance using iterative feedback tuning[C],In:Proceedings of the 41st Conference on Decision and Control,Las Vegas,Nevada USA,2002,4682-4687
[65]Graham A.E.,Young A.J.,& Xie S.Q.,Rapid tuning of controllers by IFT for profile cutting machines[J],Mechatronics,2007,17(2-3):121-128
[66]Sung E.J.,& Sang W.K.,Normalized iterative feedback tuning with PD-type modified feedback experiment[C],In:Proceedings of ISIE 2001,Pusan,Korea,2001,1192-1197
[67]Solari G.,& Gevers M.,Unbiased estimation of the hessian for iterative feedback tuning[C],In:Proceedings of the 43th IEEE Conference on Decision and Control,Atlantis,Paradise island,Bahanmas,2004,1759-1760
[68]Sj(o|¨)berg J.,& Aarwal M.,Model-free repetitive control design for nonlinear systems[C],In:Proceedings of the 35th IEEE Conference on Decision and Control,Kobe,Japan,1996,2824-2829
[69]Sj(o|¨)berg J.,& Aarwal M.,Nonlinear controller tuning based on linearized time-variant model[C],In:Proceeding of the American Control Conference,Albuquerque,New Mexico,1997,3336-3340
[70]Sj(o|¨)berg J.,De Bruyne F.,& Agarwal M.,Iterative controller optimization for nonlinear system[J],Control Engineering Practice,2003,11(9):1079-1086
[71]Hjalmarsson H.,& Birkeland T.,Iterative feedback tuning of linear time-invariant MIMO systems[C],In:Proceedings of the 37th IEEE Conference on Decision and Control,1998,3893-3898
[72]De Bruyne F.,Iterative feedback tuning for internal model controllers[J],Control Engineering Practice,2003,11(9):1043-1048
[73]Ho W.K.,Hong Y.,Hansson A.,Hjalmarsson H.& Deng J.W.,Relay auto-tuning of PID controllers using iterative feedback tuning[J],Automatica,2003,39(1):149-157
[74]Olivier L.,Michel G.,& Magnus M.,Iterative feedback tuning of PID parameters:comparison with classical tuning rules[J],Control Engineering Practice,2003,11(9):1023-1033
[75]Koumboulis F.N,Tzamtzi M.P.,& Hamilothoris G.E.,Iterative feedback tuning for safe switching controllers[C],In:Proceedings of the 13th Mediterranean Conference on Control and Automation,Limassol,Cyprus,2005,938-945
[76]王卫红,侯忠生.基于迭代反馈调整的直流双闭环调速系统设计[C].第25届中国控制会议,哈尔滨,中国,2006,1750-1753
[77]Codrons B.,De Bruyne F.,De Wan M.& Gevers M.,Iterative feedback tuning of a nonlinear controller for an inverted pendulum with a flexible transmission[C],In:Proceedings of the IEEE International Conference on Control Application,Trieste,Italy,1998,1281-1285
[78]Hjalmarsson H.,Fukuda K.,& Sugie T.,Iterative feedback tuning of controllers for a two-mass spring system with friction[C],In:Proceedings of the 39th IEEE Conference on Decision and Control,2000,2438-2443
[79]Arthur T.,Ho W.K.,Deng J.W.,& Lok B.K.,Control of photoresist film thickness:iterative feedback tuning approach[J],Computers and Chemical Engineering,2006,30(3):572-579
[80]王卫红,侯忠生,金尚泰.迭代反馈整定方法综述[C].第26届中国控制会议,张家界,中国,2007,14-18
[81]Safonov M.G.,Unfalsified control:A behavioral approach to learning and adaptation[C],In:Proceedings of the 40th IEEE Conference on Decision and Control,Orlando,Florida,USA,2001,2682-2685
[82]Myungsoo J.& Safonov M.G.,Automatic PID tuning:an application of unfalsified control[C],In:Proceedings of the IEEE International Symposium on Computer Aided Control System Design,Hawai(?)i,USA,1999,328-333
[83]Saeki M.,Unfalsified control approach to parameter space design of PID controllers[C],In:Proceedings the 42th IEEE Conference on Decision and Control,2003,3250-3255
[84]Saeki M.,Hamada O.,Wada,N.& Masubuchi,I.,PID gain tuning based on falsification using bandpass filters[C],In:Proceedings of SICE-ICASE,International Joint Conference,2006,4032-4037
[85]Tsao T.C.,& Safonov M.G,Unfalsifled direct adaptive control of a two-link robot arm[C],In:Proceedings of the IEEE International Symposium on Computer Aided Control System Design,Hawai'i,USA,1999,680-686
[86]Brugarolas P.B.,Fromion V.,& Safonov M G,Robust switching missile autopilot[C],In:Proceedings of American Control Conference,Philadelphia,USA,1998,3665-3669
[87]Van Helvoort J.,De Jager B.,& Steinbuch M.,Sufficient conditions for data-driven stability of ellipsoidal unfalsified control[C],In:Proceedings of 45th IEEE Conference on Decision and Control,2006,453-458
[88]Van Heivoort J.,De Jager B.,& Steinbuch M.,Ellipsoidal unfalsified control:stability[C],In:Proceedings of American Control Conference,2006,4095-4099
[89]Nakamoto M.,An application of the virtual reference feedback tuning for an MIMO process[C],In:Proceedings of SICE 2004 Annual Conference,2004,3:2208-2213
[90]Campi M.C.,& Savaresi S.M.,Virtual reference feedback tuning for non-linear systems[C],In:Proceedings of 44th IEEE conference on Decision and Control and European Control Conference,2005,6608-6613
[91]Campi M.C.,& Savaresi S.M.,Direct nonlinear control design:the virtual reference feedback tuning approach[J],IEEE Transactions On Automatic Control,2006,51(1):14-27
[92]Campi M.C.,Lecchini A.& Savaresi S.M.,Virtual reference feedback tuning:a direct method for the design of feedback controllers[J],Automatica,2002,38(8):1337-1346
[93]Lecchini A.,Campi M.C.,& Savaresi S.M.,Sensitivity shaping via virtual reference feedback tuning[C],In:Proceedings of the 40th IEEE Conference on Decision and Control,2001,750-755
[94]Lecchini A.,Campi M.C.& Savaresi S.M.,Virtual reference feedback tuning for two degree of freedom controllers[J],International Journal of Adaptive Control and Signal Process,2002,special issue on controller design,16:355-371
[95]Antonio Sala,& Alicia Esparza,Extensions to "virtual reference feedback tuning:a direct method for the design of feedback controllers"[J],Automatica,2005,41(8):1473-1476
[96]Previdi F.,Sehauer T.,Savaresi S.M.,& Hunt,K.J.,Data-driven control design for neuroprotheses:a virtual reference feedback tuning(VRFT) approach[J],IEEE Transactions on Control Systems Technology,2004,12(1):176-182
[97]Previdi F.,Ferrarin M.,Savaresi S.M.,& Bittanti S.,Closed-loop control of FES supported standing up and sitting down using virtual reference feedback tuning[J],Control Engineering Practice,2005,13(9):1173-1182
[98]刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3):407-418
[99]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆:重庆大学出版社,1997
[100]Xing H.Y.,Discrete variable structure control systems[J],International Journal of System Science,1993,24(2):273-386
[101]Sarptuk S.Z,Istefanoplos Y.,& Kaynak O.,On the stability of discrete times sliding mode control systems[J],IEEE Transactions On Automatic Control,1987,32(10):930-932
[102]Furuta K.,Sliding mode control of a discrete system[J],Systems & Control Letters,1990,14(2):145-152
[103]高为炳.离散时间系统的变结构控制[J].自动化学报,1995,21(2):154-161
[104]Gao W.B.,Wang Y.,& Homaifa A.,Discrete-time variable structure control systems[J],IEEE Trans.Industrial Electronics,1995,42(2):117-122
[105]Chan C.Y.,Discrete-time adaptive sliding mode control of a linear system in state-space form[J],International Journal of Control,1999,67(6):859-868
[106]Bartolinl G & Ferrara A.,Adaptive sliding mode control in discrete-time systems[J],Automatica,1995,31(5):769-733
[107]Hedrick J.K.& Won M.,Disturbance adaptive discrete-time sliding mode control with application to engine speed control[J],Journal of Dynamic Systems,Measurement and Control,2002,123(4):1-9
[108]Mufioz D.,An adaptive sliding mode controller for discrete nonlinear systems[J],IEEE Transactions on Industrial Electronics,2000,47(3):574-581
[109]Chen X.K.,Adaptive quasi sliding mode tracking control for discrete uncertain input-output systems[J],IEEE Transactions on Industrial Electronics,2001,48(1):216-224
[110]Sha D.H.& Vladimir B.,Robust discrete adaptive input-output based sliding mode controller[J],International Journal of Systems Science,2000,32(12):1601-1614
[111]Xu X.H.,Wu Y.H.& Huang W.H.,Variable structure control approach of decentralized model-reference adaptive systems[C],In:IEE Proceedings on Control Theory and Applications,1990,137(5):302-306
[112]Askew C.& Sundareshan K.,Adaptive variable structure control of flexible manipulators by neural network payload identification[C],In:Proceeding of the 32th IEEE Conference on Decision and Control,1993,3249-3250
[113]葛红,毛宗源.变结构神经网络模糊控制器的研究[J].控制理论与应用,1999,16(2):184-189
[114]袁著祉,卢钊,陈增强.不确定性系统的神经网络变结构控制[J].南开大学学报,2000,34(4):48-52
[115]Goodwin G.C.,& Sin K.S.,Adaptive Filtering Prediction and Control[M],New Jersey:Prentice-Hall,Inc.,Englewood Cliffs,1984
[116](?)str(o|¨)m K.J.,& Wittenmark B.,Adaptive Control[M],Reading MA:Lund Institute of Technology,Addison-Wesley,1989
[117]韩曾晋.自适应控制[M].北京:清华大学出版社,1995
[118]王昕.多模型自适应解耦控制器的研究[D].沈阳:东北大学博士学位论文,2002
[119]Wittenmark B.,Middleton R.& Goodwin G.C.,Adaptive decoupling of multivariable systems[J],International Journal of Control,1987,46(6):1993-2009
[120]Teng F.C.,& Ledwich G.F.,Adaptive decouplers for multivariable systems:input dynamic compensation and output feedback approaches[J],International Journal of Control,1992,55(2):373-391
[121]Wahba A.M.& Sheirah M.A.,Adaptive decoupler for multivariable systems[J],International Journal of Systems Science,1993,21(1) 97-109
[122]McDermot P.E.,& Meltichamp D.A.,A decoupling pole-placement self-tuning Controller for a class of multivariable process[J],Optimal Control Applications and Methods,1986,7(1): 35-79
[123]Lang S.J,Gu X.Y.& Chai T.Y.,A multivariable generalized self-tuning controller with decoupling design[J],IEEE Transactions on Automatic Control,1986,31(5):474-477
[124]Chai T.Y.,Lang S.J,& Gu X.Y.,A generalized self-tuning feedforward controller and Multivariable application[C],In:Proceedings of the 24th IEEE Conference on Decision and Control,New York,USA,1985,862-867
[125]柴天佑,郎世俊,顾兴源.多变量自校正前馈控制器及其应用[J].自动化学报,1986,12(3):229-236
[126]柴天佑.多变量自校正解耦制器的全局收敛性分析[J].自动化学报,1989,15(5):432-436
[127]柴天佑.具有参数强一致收敛的多变量自校正前馈控制器[J].自动化学报,1991,17(3):264-272
[128]Chai T.Y.,A self-tuning decoupling controller for a class of multivariable systems and global convergence analysis[J],IEEE Transactions On Automatic Control 1988,33(8):767-771
[129]Chai T.Y.,Direct adaptive decoupling control for general stochastic multivariable systems[J],International Journal of Control,1990,51(4):885-909
[130]柴天佑.多变量自适应解耦控制及应用[M].北京:科学出版社,2001
[131]岳恒.一类多变量非线性系统的神经网络自适应解耦控制[D].沈阳:东北大学博士学位论文,1999
[132]富月,柴天佑,岳恒.一类非线性多变量系统的多模型自适应解耦控制[J].控制与决策,2006,21(2):139-147
[133]Chen L.J.,& Narendra K.S.,Nonlinear adaptive control using neural networks and multiple models[J],Automatica,2001,37(8):1245-1255
[134]张化光,杨英旭,柴天佑.多变量模糊控制的现状与发展(Ⅱ)[J].控制与决策,1995,7(4):289-295
[135]Xu C.W.,& Lu Y.Z.,Decoupling in fuzzy systems:a cascade compensation approach[J],Fuzzy Sets and Systems,1989,29(2):177-185
[136]Gupta M.M.,Multivariable structure of fuzzy control systems[J],IEEE Transactions on System,Man and cybernetics,1986,16(5):638-656
[137]王殿辉,柴天佑,张化光.一种Fuzzy推理合成的新算法[J].控制与决策,1994,9(1):59-63
[138]夏小华,高为炳.非线性系统控制及解耦[M].北京:科学出版社,1997
[139]吴黎明,柴天佑.一类非线性离散时间系统的神经网络解耦策略[J].自动化学报,1997,23(2):207-212
[140]岳恒,柴天佑.一类多变量非线性系统的神经网络自适应解耦控制[J].信息与控制,1999,28(7):607-612
[141]Fu Y.& Chai T.Y.,Nonlinear indirect adaptive decoupling control based on neural networks and multiple models[C],In:Proceeding of the 2006 American control conference.2006,USA,3692-3697
[142]Goodwin G C.,Ramadge P.J.,& Caines P.E.,Discrete-time multivariable adaptive control[J],IEEE Transactions On Automatic Control,1980,25(3):449-456
[143]郭雷.时变随机系统[M].长春:吉林科学技术出版社,1992
[144]Anbunmani K.,Patnaik L.M.,& Serma I.G.,Self-tuning minimum variance control of nonlinear systems of the Hammerstein model[J],IEEE Transactions On Automatic Control, 1981,26(4):959-961
[145]Zhang J.X.,& Lang S.J.,Explicit self-tuning control for a class of nonlinear systems[J],Automatica,1989,25(4):593-599
[146]Pajunen G,Adaptive control of Wiener type nonlinear systems[J],Automatica,1992,28(4):781-785
[147]Sung D.J.T.,& Lee T.T.,Model reference adaptive control of nonlinear systems using the Wiener model[J],International Journal of Control,1987,18(3):581-599
[148]Svoronos S.,Stephanopoulos G,& Aris R.,On bilinear estimation and control[J],International Journal of Control,1981,34(4):651-684
[149]Sales K.R.,& Billings S.A.,Self-tuning control of nonlinear ARMAX models[J],International Journal of Control,1990,51(4):753-769
[150]Ge S.S.,Li G.Y.,& Lee T.H.,Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems[J],Automatica,2003,39(5):807-819
[151]Yeh,P.C.,& Kokotovic,P.V.,Adaptive control of a class of nonlinear discrete-time systems[J],International Journal of Control,1995,62(2):303-324
[152]Ge S.S.,Lee T.H.,Li GY.,& Zhang J.,Adaptive NN control for a class of discrete-time nonlinear systems[J],International Journal of Control,2003,76(4):334-354
[153]Zhang J.,Ge S.S.& Lee T.H.,Output feedback control of a class of discrete MIMO nonlinear systems with triangular form inputs[J],IEEE Transactions On Neural Networks,2005,16(6):1491-1503
[154]Chen F.C.,& Khalil H.K.,Adaptive control of a class of nonlinear discrete-time systems using neural networks[J],IEEE Transactions On Automatic Control,1995,40(5):791-801
[155]Ge S.S.,Hong F.& Lee T.H.,Adaptive neural network control of nonlinear systems with unknown time delays[J],IEEE Transactions On Automatic Control,2003,48(11):2004-2010
[156]Ge S.S.,Li G.Y.,Zhang J.,& Lee T.H.,Direct adaptive control for a class of MIMO nonlinear systems using neural networks[J],IEEE Transactions On Automatic Control,2004,49(11):2001-2006
[157]翟长连,吴智铭.不确定离散时间系统的变结构控制设计[J].自动化学报,2000,26(2):184-191
[158]Narendra K.S.& Parthasarathy K.,Identification and control of dynamical systems using neural networks[J],IEEE Transactions on Neural Networks,1990,1(1):4-27
[159]Mukhopadhyay S.& Narendra K.S.,Disturbance rejection in nonlinear systems using neural networks[J],IEEE Transactions on Neural Networks,1993,4(1):63-72
[160]Chan C.Y.,Discrete adaptive sliding-mode control tracking controllers[J],Automatica,1997,33(5):999-1002
[161]Chan S.P.,An approach to perturbation compensation for variable structure systems[J],Automatica,1996,32(3):469-473
[162]Chan C.Y.,Robust discrete quasi-sliding mode tracking controller[J],Automatica,1995,31(10):1509-1511
[163]郭庆鼎,王成元,周美文.直线交流伺服系统的精密控制技术[M].北京:机械工业出版社,2000
[164]艾武,程立.基于DSP的直线电机位置检测与控制技术[J].机械与电子,2004,(2):29-32
[165]Pritschow G,& Philipp W.,Direct drives for high-dynamic machine tool axes[J],CIRP Annals-Manufacturing Technology,1990,39(1):413-416
[166]Wang G.J.,Fong C.T.,& Chang K.J.,Neural-network-based self-tuning PI controller for precise motion control of PMAC motors[J],IEEE Transactions on Industrial Electronics,2001,48(2):408-415
[167]张代林,陈幼平,艾武,周祖德.基于MRAC方法的直线电机的位置角度校正技术[J].控制理论与应用,2007,24(4):687-691
[168]颜菡,王先逵,段广洪,赵彤.H_∞鲁棒控制在精密直线电机位移装置中的应用[J].清华大学学报-自然科学版,2006,46(11):1828-1831
[169]孙宜标,郭庚鼎.基于滑模观测器的直线伺服系统反馈线性化速度跟踪控制[J].控制理论与应用,2004,21(3):391-397
[170]林岩,毛剑琴.低增益变结构模型参考自适应控制器设计[J].控制理论与应用,2001,18(5):690-696
[171]Chen J.S.,Chen K.C.,Lai Z.C.,& Huang Y.K.,Friction characterization and compensation of a linear-motor rolling-guide stage[J],International Journal of Machine Tools and Manufacture,2003,43(9):905-915
[172]Hassan Yousefi,Markus Hirvonen,Heikki Handroos & Azita Soleymani,Application of neural network in suppressing mechanical vibration of a permanent magnet linear motor[J],Control Engineering Practice,2008,16(7):787-797
[173]Wang T.,Zhou D.H.,Jin Y.H.,& Qin S.J.,Adaptive generic model control for a class of nonlinear time-varying processes with input time delay[J],Journal of Process Control,2004,14(5):517-531
[174]Hou M,Xiong Y.S.& Patton R.J.,Observing a three-tank system[J],IEEE Transactions on Control Systems Technology,2005,13(3):478-484
[175]李莹.非线性智能滑模变结构控制理论与应用研究[D].哈尔滨:哈尔滨工业大学博士学位论文,2000
[176]张益波.基于支持向量机的变结构控制方法研究[D].杭州:浙江大学博士学位论文,2006
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |