Adaptive Control With Guaranteed Transient Behavior and Zero Steady-State Error for Systems With Time-Varying Parameters  

作　　者：Hefu Ye Yongduan Song 

机构地区：[1]Chongqing Key Laboratory of Autonomous Systems,Institute of Artificial Intelligence,School of Automation,Chongqing University,Chongqing 400044,China [2]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第6期1073-1082,共10页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61991400,61991403,61860206008,61933012)。

摘　　要：It is nontrivial to achieve global zero-error regulation for uncertain nonlinear systems.The underlying problem becomes even more challenging if mismatched uncertainties and unknown time-varying control gain are involved,yet certain performance specifications are also pursued.In this work,we present an adaptive control method,which,without the persistent excitation(PE)condition,is able to ensure global zero-error regulation with guaranteed output performance for parametric strict-feedback systems involving fast time-varying parameters in the feedback path and input path.The development of our control scheme benefits from generalized-dependent and-dependent functions,a novel coordinate transformation and“congelation of variables”method.Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.

关 键 词：Adaptive control global property guaranteed performance uncertain nonlinear systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]