纯反馈非线性系统的鲁棒自适应跟踪控制  

Robust Adaptive Tracking Control for Pure-Feedback Nonlinear Systems

作　　者：左仁伟 董新民[1] 刘棕成[1] ZUO Ren-wei;DONG Xin-min;LIU Zong-cheng(Air Force Engineering University,Xi＇an 710038,China)

机构地区：[1]空军工程大学,西安710038

出　　处：《电光与控制》2018年第10期17-23,共7页Electronics Optics & Control

基　　金：国家自然科学基金(61473307;61603411)

摘　　要：针对一类非仿射函数不连续的纯反馈非线性系统,提出了一种鲁棒自适应控制方法。放宽了对非仿射函数的连续性条件和边界条件,非仿射函数的边界均为未知连续函数,利用动态面控制技术避免了对虚拟控制律反复求导而导致的计算复杂性问题。从理论上证明了所设计的方法能够保证闭环系统所有信号半全局一致终结有界,且通过选择合适的设计参数使系统输出能渐近收敛到原点的任意小邻域内。仿真结果表明了所提出方法的有效性。A robust adaptive control scheme is designed for a class of pure-feedback nonlinear systems with non-affine functions possibly being discontinuous. The continuous and bounded conditions on non-affine functions are relaxed, and the bounds of non-affine function are unknown continuous functions. Moreover, the problem of computational complexity caused by the repeated differentiations of virtual control laws is eliminated by utilizing dynamic surface control technique. It is proved theoretically that all the signals in the closed-loop control system are semi-globally uniformly ultimately bounded, and the system output can asymptotically converge to an arbitrarily small neighborhood of the equilibrium point by choosing the appropriate design parameters. Finally, simulation examples are provided to demonstrate the effectiveness of the designed approach.

关 键 词：非仿射纯反馈 自适应控制 动态面控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]