多参数ESA优化反演控制

Weijie Dong, Yun-an Hu, Bin Zuo, Wanli Dong
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引用次数: 1

摘要

针对传统参数整定方法耗时太长的问题,提出了一种采用多参数极值搜索算法(m-p ESA)对反步控制器参数进行整定的方法。m-p ESA通过多通道设计,通过最小化代价函数来获得参数的最优值,从而达到理想的性能,避免了参数之间的相互作用。因此,利用m-p ESA可以简化参数调整过程。利用李雅普诺夫理论分析了系统的稳定性。仿真结果表明,采用m-p ESA优化后的反步控制器是有效的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Backstepping control optimized by the multi-parameter ESA
For the case that the traditional parameter adjustment consumes too much time, a method using the multi-parameter extremum seeking algorithm (m-p ESA) to tune the backstepping controller parameters is presented. The m-p ESA can obtain the optimized value of parameters by minimizing the cost function to achieve the desired performance and avoid the interaction of parameters by the multiple channels design. Therefore the utilization of the m-p ESA can simplify the process of parameter adjustment. In addition, the stability is analyzed by Lyapunov theory The simulation results demonstrate the backstepping controller optimized by the m-p ESA is effective.
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