随机非线性系统鲁棒自适应反馈控制器的积分反推方法设计  

BACKSTEPPING ROBUST ADAPTIVE FEEDBACK CONTROL DESIGN FOR STOCHASTIC NONLINEAR SYSTEMS

作　　者：刘允刚[1] 施颂椒[1] 潘子刚[1] 

机构地区：[1]上海交通大学自动化系,上海200030

出　　处：《自动化学报》2001年第5期613-620,共8页Acta Automatica Sinica

基　　金：国家自然科学基金资助 ( 60 0 0 4 0 0 5 )

摘　　要：考虑了一类随机非线性系统的鲁棒自适应控制问题 .采用 Ito随机微分方程描述系统 ,进而在概率意义下研究系统的鲁棒稳定性 .应用积分反推 ( backstepping)方法 ,系统地给出了设计状态反馈及输出反馈鲁棒自适应控制器的方法 .同时构造出了适当形式的四次型的自适应控制 Lyapunov函数 ( CLF) .The backstepping robust adaptive feedback control design for a class of nonlinear stochastic systems with stochastic disturbance is studied. The systems are depicted by Itoˆ stochastic differential equations, and the performances such as robust stability are studied in probability. By using backstepping method, the designing procedure of state-feedback and dynamic output-feedback robust adaptive controllers are given. The main contribution of the paper is the quartic control Lyapunov function which is different from the deterministic case.

关 键 词：随机非线性系统 鲁棒自适应反馈控制 积分反推方法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]