一类MIMO非线性不确定系统的自适应无源控制  

Adaptive passive control for a class of MIMO nonlinear uncertain systems

作　　者：朱永红[1] 费树岷[2] 

机构地区：[1]景德镇陶瓷学院机械电子工程学院,景德镇333001 [2]东南大学自动化学院,南京210096

出　　处：《东南大学学报（自然科学版）》2010年第S1期37-42,共6页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(60961003)

摘　　要：研究了一类含有未知参数的多输入多输出非线性不确定系统的自适应无源控制问题.首先,讨论了当控制输入未知常参数系数矩阵分别为对称正定矩阵和可逆矩阵时这类系统的自适应无源控制器设计方法,继而设计出这2种情况下的自适应无源控制器以及相应的参数自适应律.然后,利用李亚普诺夫方法证明了由原系统和所设计的控制器组成的闭环系统是稳定的,且在一定假设条件下,所设计的控制控制器能够使系统自适应无源.最后,给出了一个仿真算例,仿真结果证明所设计的控制器是有效可行的.An adaptive passive control problem is studied for a class of multi-input multi-output( MIMO) nonlinear systems with unknown parametric uncertainties. The design methods of the adaptive passive controllers for this class of systems are discussed for two different conditions that the unknown constant parametric matrixes of control input are symmetric positive definite matrixes and reversible matrixes,respectively. The correponding adaptive passive controllers and parameter adaptive laws are designed and presented for these two kinds of conditions. Using Lyapunov method it is proved that the closed-loop system composed of the original system and the designed controllers is stable. Under a certain assumption condition,the controller designed can make the system adaptive and passive. Finally,a simulation example is given to prove the effectiveness and feasibility of the proposed method.

关 键 词：MIMO非线性系统 无源控制 自适应控制 参数不确定 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]