基于无源辨识器的随机非线性系统自适应跟踪模块化设计  

Modular design of adaptive tracking of stochastic nonlinear systems based on passive identifiers

作　　者：杜晓冬[1] 蔡涛[2] 王俊[1] 

机构地区：[1]合肥学院机器视觉与智能控制技术重点实验室,安徽合肥230601 [2]安徽电气工程职业技术学院电力系,安徽合肥230000

出　　处：《中国科学技术大学学报》2012年第9期761-767,共7页JUSTC

基　　金：安徽高校省级自然科学研究重点项目(KJ2010A292)资助

摘　　要：运用基于估计的模块化设计思想,研究了受方差不确定Wiener噪声干扰的参数严格反馈非线性系统对已知信号的自适应跟踪问题.构造控制Lyapunov函数,设计了具有鲁棒稳定特性的输入状态稳定控制器,确保系统满足控制器-辨识器分离.对不确定方差采用自适应方式处理.根据无源性理论,设计无源辨识器模块,给出了参数自适应律,确保系统误差的有界性,使跟踪误差在概率意义下收敛.The estimation-base modular design was applied for the adaptive tracking problems for a class of stochastic nonlinear systems in the form of parametric-strict-feedback driven by Wiener noises of unknown covariance. A complete controller-identifier separation was achieved by employing control Lyapunov functions and using the ISS controller with strong parametric robustness properties. For the noise of unknown covariance, the adaptive algorithm is designed. According to the passive theorems, a passive identifier module is designed to guarantee the boundedness of the state error. Therefore, the result that the tracking error converges to a small residual set in probability was obtained.

关 键 词：自适应跟踪 输入-状态稳定 方差不确定 无源辨识器 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]