未知控制方向非线性时滞系统部分状态反馈鲁棒自适应控制  

Partial State Feedback Robust Adaptive Control for Nonlinear Systems with Unknown Control Directions and Time-delays

作　　者：刘涛[1] 李俊民[1] 

机构地区：[1]西安电子科技大学理学院,西安710071

出　　处：《工程数学学报》2011年第6期756-762,共7页Chinese Journal of Engineering Mathematics

基　　金：国家自然科学基金(60974139)~~

摘　　要：针对一类带有未知控制方向的时变非线性系统的部分状态渐近鲁棒调节问题,文中采用部分状态反馈渐进调节的控制算法来处理系统中的不确定性,利用Lyapunov-Krasovskii泛函来处理系统中的时滞项,通过Nussbaum型函数来处理系统中的未知控制方向问题.我们基于反推技术给出了部分状态反馈控制器的设计步骤,所设计的控制器使得闭环系统的所有信号都是有界的,而且使系统的状态渐进收敛于零.仿真实例说明了控制器的有效性和可行性.A robust partial-state feedback asymptotic regulating control scheme is developed for a class of time-varying nonlinear systems with unknown control coeffcients and unknown time delays.The partial-state feedback asymptotic regulating control scheme has been introduced to deal with the uncertainties of the system.By constructing appropriate Lyapunov-Krasovskii functionals,the unknown time-delay terms are compensated in the controller design procedure.Nussbaum-type functions are used to solve the problem of the unknown control direction.The designed control scheme can ensure that all the signals of the closed-loop system are bounded.Especially,all the system states converge to zero asymptotically.Finally,the design procedure is illustrated through an example and the simulation results show that the proposed controller is feasible and effective.

关 键 词：未知控制方向 非线性系统 部分状态反馈 鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]