具有未建模动态和输出约束系统的自适应输出反馈控制  

Adaptive output feedback control of systems with unmodeled dynamics and output constraint

作　　者：张天平[1] 王宁宁[1] 夏梅珍[1] 

机构地区：[1]扬州大学信息工程学院,江苏扬州225127

出　　处：《控制与决策》2017年第1期55-62,共8页Control and Decision

基　　金：国家自然科学基金项目(61573307)

摘　　要：针对一类具有未建模动态和输出约束的输出反馈非线性系统,提出一种自适应输出反馈动态面控制方案.利用神经网络逼近未知连续函数,分别设计K滤波器和动态信号估计不可测量的状态,并处理动态不确定性.引入障碍李雅普诺夫函数并设计自适应控制器以保证BLF有界,从而实现输出约束.理论分析表明,闭环控制系统是半全局一致终结有界的,且满足输出约束,仿真结果验证了所提出方案的有效性.An adaptive output feedback dynamic surface control scheme is proposed for a class of output feedback nonlinear systems with unmodeled dynamics and output constraint. The radial basis function neural networks are utilized to approximate unknown nonlinear continuous functions. The K-filters and dynamic signal are designed to estimate the unmeasured states and deal with the dynamic uncertainties, respectively. By introducing a barrier Lyapunov function（BLF）and designing the adaptive controller, the boundedness of the BLF and the output constraint can be guaranteed. By theoretical analysis, the closed-loop control system is shown to be semi-globally uniformly ultimately bounded, and satisfy the output constraint. Simulation results show the effectiveness of the proposed approach.

关 键 词：未建模动态 输出约束 动态面控制 输出反馈 障碍李雅普诺夫函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]