随机非线性系统鲁棒自适应控制的模块化设计  

Modular Design of Robust Adaptive Controller for Strict-feedback Stochastic Nonlinear Systems

作　　者：王俊[1] 张梅[1] 奚宏生[1] 成荣[1] 

机构地区：[1]中国科学技术大学自动化系,合肥230026

出　　处：《控制与决策》2005年第11期1269-1273,1278,共6页Control and Decision

基　　金：安徽省自然科学基金项目(03042302)

摘　　要：将线性系统中基于估计的模块化设计思想推广到随机非线性系统的控制设计之中,基于Ito∧微分规则和自适应B ackstepp ing算法,设计了全局依概率渐近稳定的输入状态稳定控制器.根据无源性定理,设计了无源辨识器模块,并确保扰动是有界的.仿真结果表明了该控制算法的有效性.A modular approach of the estimation-based design for adaptive linear control systems is extended to the adaptive control design of strict-feedback stochastic nonlinear systems with additive Wiener noises and constant unknown parameters. By using Ito＇s differentiation rule and adaptive Backstepping procedure, an input-to-state stability controller of global asymptotic stabilization in probability is developed. According to passive theorems, a passive identifier module is designed which guarantees that disturbances are bounded. Simulation results show the effectiveness of the control algorithms.

关 键 词：Wiener噪声 Ito微分规则 依概率渐近稳定 输入状态稳定 无源辨识器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]