Adaptive sliding mode control using RBF network
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摘要: 针对实际系统易受未知非线性、外界干扰和参数摄动等不确定因素影响的问题,以高精度模拟转台为例,采用一种基于RBF(Radial Basis Function)网络的自适应滑模控制器.控制器由名义反馈控制器和滑模干扰补偿器两个子系统组成.反馈控制器通过极点配置的方法实现,用来稳定名义系统.干扰补偿器使用一个自适应RBF网络在线辨识不确定性的上界值.计算机仿真结果表明了该法的鲁棒性和有效性.Abstract: Like most practical systems, high precision simulator is sensitive to nonlinearities, external disturbances and parameter perturbations. To solve such control problems, an adaptive sliding-mode controller based on RBF network was adopted. The proposed controller was divided into two parts: a nominal feedback controller and a sliding mode disturbance compensator. The feedback controller used pole configuration to stabilize the nominal system. The disturbance compensator used an adaptive RBF network to recognize the upper bound of the uncertainties on line. The result of computer simulation demonstrates the robustness and the effectiveness of the proposed algorithm.
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Key words:
- RBF network /
- sliding mode control /
- upper bound /
- high precision simulator
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