ニューラルネットワークを用いた非線形系に対する適応出力フィードバック制御系設計

抄録

Adaptive output feedback control based on output feedback exponential passivity (OFEP) has a simple structure and strong robustness in regard to disturbances and system uncertainties. However, it is difficult for most nonlinear systems to satisfy the conditions of OFEP. Thus, the introduction of a suitable parallel feedforward compensator (PFC) to construct an OFEP augmented system with the controlled system has been used, but the control output cannot achieve perfect tracking because of the output of the introduced PFC. As a solution, introducing a feedforward (FF) input to build a 2 degree of freedom (2-DOF) is a simple and effective way to solve this problem. In this paper, we propose the design schemes for suitable PFC and FF input of nonlinear systems via the use of neural networks (NN) respectively. And besides, to cope with possibly present input disturbances, we also provide a method to achieve disturbance compensation based on NN to reduce their interference. Finally, the effectiveness of all proposed design schemes is confirmed through numerical simulations.