降阶的鲁棒分散自适应反推控制  

Reduced-order robust decentralized adaptive backstepping control

作　　者：解学军[1] 白延宁[2] 刘海宽[1] 

机构地区：[1]徐州师范大学电气工程及自动化学院,江苏徐州221116 [2]曲阜师范大学自动化研究所,山东曲阜273165

出　　处：《控制理论与应用》2007年第3期396-400,共5页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60304003);教育部新世纪优秀人才支持计划资助项目(NCET-05-0607).

摘　　要：针对一类含有未建模动态的关联系统,考虑了降阶的鲁棒分散自适应反推控制问题.首先通过一系列坐标变换,将原系统重新参数化,然后引入降阶观测器,得到一个误差系统.基于该系统,给出了一种降阶自适应反推控制器的设计方案.证明了自适应控制系统的所有信号全局一致有界,调节误差渐近收敛到零.控制器阶次的降低使得本文的设计方案更具应用价值.For a class of interconnected systems with unmodeled dynamics, the problem of reduced-order robust decentralized adaptive backstepping control is considered in this paper. Firstly, by a series of coordinate transformations, the original system is reparameterized. Then, by introducing a reduced-order observer, an error system is obtained. Based on the system, a design scheme of reduced-order adaptive backstepping controller is given. It is also proved that all the signals in the adaptive control system are globally uniformly bounded, and the regulation error converges to zero asymptotically. Due to the order reduction of the controller, the design scheme in this paper has more practical values.

关 键 词：关联系统 鲁棒 降阶 反推 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]