一类具有未知幂次的高阶不确定非线性系统的自适应控制  

Adaptive Control for a Class of High-order Uncertain Nonlinear Systems With Unknown Powers

作　　者：刘玉发 刘勇华 苏春翌 鲁仁全 LIU Yu-Fa;LIU Yong-Hua;SU Chun-Yi;LU Ren-Quan(School of Automation,Guangdong University of Technology,Guangzhou 510006;Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control,Guangzhou 510006)

机构地区：[1]广东工业大学自动化学院,广州510006 [2]广东省智能决策与协同控制重点实验室,广州510006

出　　处：《自动化学报》2022年第8期2018-2027,共10页Acta Automatica Sinica

基　　金：国家自然科学基金(61803097,U2013601);广东省特支计划本土创新创业团队项目基金(2019BT02X353)资助。

摘　　要：研究了一类具有未知幂次的高阶不确定非线性系统的自适应跟踪控制问题.在无需系统函数先验知识的条件下,采用积分反推技术和障碍李雅普诺夫函数,提出了一种新颖的自适应跟踪控制算法.该控制算法的显著特点是所设计的自适应控制器均与系统幂次无关,并且能够保证闭环系统的所有信号皆有界.仿真算例验证了该控制算法的有效性.This paper studies the problem of adaptive output tracking for a class of high-order uncertain nonlinear systems with unknown powers.Without incorporating a priori information of system functions,a novel adaptive tracking control algorithm is proposed by combining integrator backstepping technique and barrier Lyapunov functions.The remarkable feature of the proposed algorithm is that the designed adaptive controller does not rely on the powers and ensures the global uniform boundedness of all the closed-loop signals.Simulation studies are stated to perform the effectiveness of the control algorithm.

关 键 词：高阶非线性系统 输出跟踪 自适应控制 障碍函数 未知幂次 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]