有界扰动滞环非线性系统的自适应控制  

Adaptive control of backlash nonlinear systems with bounded disturbances

作　　者：孙西[1] 张维存[1] 金以慧[1] 

机构地区：[1]清华大学自动化系

出　　处：《清华大学学报（自然科学版）》1993年第4期35-41,共7页Journal of Tsinghua University(Science and Technology)

摘　　要：对存在有界扰动下的滞环非线性系统，建立了适合于最小相位和非最小相位情况的自适应控制算法，证明了闭环系统的稳定性，同时给出了控制误差上界。仿真实验表明了这种算法的有效性。An adaptive control algorithm for backlash nonlinear systems with bounded disturbances is established. The algorithm can be used for nonlinear systems within minimum or nonminimum phase. The stability of closed-loop system is proved and the upper bound of tracking error is also given. The results of simulation verify the effectiveness of the proposed algorithm.

关 键 词：滞环 非线性 有界扰动 自适应控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]