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针对非线性不确定系统和传统的非线性内模控制在控制上存在的不足,提出一种基于动态补偿逆的非线性不确定系统LS-SVM内模控制,在引入LS-SVM建立逆模型的同时,将无模型自适应控制方法作为附加控制器,用于模型偏离被控对象时在线修正逆模型.仿真结果表明,提出的方法不仅对系统的常量摄动具有较好的鲁棒性,对时变不确定性仍然保持较好的跟踪效果,具有较好的实时性、鲁棒性和在线校正功能.
Aiming at the deficiencies in the control of nonlinear uncertain system and traditional nonlinear internal model control, an LS-SVM internal model control based on dynamic compensation inverse of nonlinear uncertain system is proposed. By introducing LS-SVM to build inverse model At the same time, the model-free adaptive control method is used as an additional controller for on-line correction of the inverse model when the model deviates from the controlled object.The simulation results show that the proposed method not only has better robustness to the system perturbation, Time-varying uncertainties still keep good tracking results, with good real-time, robustness and online calibration.