高阶不确定非线性系统线性状态反馈自适应控制设计  

Adaptive Control Design via Linear State-feedback for High-order Uncertain Nonlinear Systems

作　　者：满永超[1] 刘允刚[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061

出　　处：《自动化学报》2014年第1期24-32,共9页Acta Automatica Sinica

基　　金：国家自然科学基金(61273084;61233014;61325016);山东省自然科学杰出青年基金(JQ200919);山东大学自主创新基金(2012JC014)资助~~

摘　　要：研究了一类控制系数未知的高阶不确定非线性系统的自适应镇定控制设计.尽管该问题已经得到解决,但是所设计的控制器是非线性反馈形式,较为复杂.与现有文献不同,本文通过综合运用增加幂积分技术和切换自适应控制方法,给出了该控制问题的更为简单且易于实现的新型线性反馈控制器,使得系统状态有界且最终趋于零.值得指出的是,与切换自适应控制文献相比,本文所研究的非线性系统具有更严重的不确定/未知性和更强的非线性,这主要体现在未知的系统控制系数和更高的系统幂次中.This paper considers the adaptive control design for a class of high-order uncertain nonlinear systems with unknown control coefficients. Although this problem has been solved, the involved controller is in a nonlinear form and hence is complex. Different from the existing literature, by skillfully applying the adding a power integrator and switching adaptive control techniques, a linear feedback controller is successfully proposed, which is simpler and easy to implement and can guarantee that the system states are bounded and ultimately converge to zero. It is worth mentioning that compared with the works on switching adaptive control, the nonlinear systems in this paper possess more serious uncertainties/unknowns and stronger nonlinearities, mainly reflected by the unknown control coefficients and the higher system orders.

关 键 词：高阶非线性系统 未知控制系数 切换自适应控制 线性反馈 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]