一类不确定非线性系统的鲁棒自适应控制  

Robust Adaptive Control for a Class of Uncertain Nonlinear Systems

作　　者：秦孝艳[1] 

机构地区：[1]枣庄学院数学与信息科学系,山东枣庄277160

出　　处：《辽宁工学院学报》2006年第2期80-83,86,共5页Journal of Liaoning Institute of Technology(Natural Science Edition)

基　　金：山东省自然科学基金资助项目(Q2002G02)

摘　　要：针对具有有界扰动的参数化严格反馈非线性系统,提出了一种鲁棒自适应控制方案。用辨识器估计系统未知参数,利用“确定性等价原则”构成自适应控制方案,从而实现了辨识器与控制器设计的完全分离。所设计的自适应控制器既能保证闭环系统所有信号的全局有界性,又能使输出跟踪误差以指数速度收敛到零的一个小邻域内。仿真结果表明了所提控制方案的有效性。New robust adaptive controller was proposed, in view of complete controller-identifier separation for parametric-strict-feedback nonlinear systems with bounded disturbances. This robust adaptive control uses the identifier to estimate the unkonwn parameter and a ＂certainty-equivalence＂ to form a self-adaptive controlling design so as to realize the separation from identifier and controller in design. The controller can guarantee the global boundness of all closed-loop signals, tracking error to converge exponentially to a small bounded neighbourhood of zero. The simulations expatiated the effectiveness of the proposed control schemes.

关 键 词：非线性系统 全局有界 有界扰动 鲁棒自适应控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]