不确定串联非线性系统H_∞鲁棒自适应控制(英文)  

Robust H-infinity adaptive controlfor uncertain cascaded nonlinear system

作　　者：朱永红[1] 姜长生[2] 胡鸿豪[1] 罗贤海[1] 

机构地区：[1]景德镇陶瓷学院机电学院,江西景德镇333001 [2]南京航空航天大学自动化学院,江苏南京210016

出　　处：《控制理论与应用》2004年第4期531-536,共6页Control Theory & Applications

基　　金：supportedbyNationalNaturalScienceFoundationofChina (G60 1740 45 ) .

摘　　要：针对一类含有未知参数和干扰的非最小相位串联非线性系统,结合H∞控制和自适应控制方法并利用李雅普诺夫函数递推设计方法设计了状态反馈H∞自适应控制器,避免了求解Hamilton＿Jacobi＿Isaacs不等式设计控制器的困难.该控制器不仅保证闭环系统ISS(input＿to＿state)稳定,而且使得系统对于所有允许的参数不确定从干扰输入到可控输出的L2增益不大于给定的值.最后,给出了一个仿真例子,仿真结果充分表明了所设计的控制器的可行性和有效性.A robust adaptive controller with L_2_gain is derived for a class of cascaded non_minimum phase nonlinear systems with unknown parameters and disturbances. A recursive Lyapunov_based design approach was developed to construct the controller explicitly so as to avoid solving Hamilton_Jacobi_Isaacs inequality. The state feedback controller guaranteed that the closed system was input_to_state stable and the L_2_gain from the disturbance input to the controlled output was not larger than a prescribed value for all admissible parameter uncertainties. In the end, a simulation example was given to demonstrate the (controller's) feasibility.

关 键 词：非线性系统 鲁棒控制 自适应控制 递推设计 L2增益 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]