具有时变延迟和扰动的非线性系统自适应学习控制  

Adaptive Learning Control for Nonlinear Systems with Time-varying Delay and Disturbances

作　　者：孙云平[1] 李金绪[1] 郑平安[1] SUN Yunping;LI Jinxu;ZHENG Pingan(School of Information,Yunnan Normal University,Kunming 650500,China)

机构地区：[1]云南师范大学信息学院,云南昆明650500

出　　处：《云南师范大学学报（自然科学版）》2022年第6期13-19,共7页Journal of Yunnan Normal University:Natural Sciences Edition

基　　金：国家自然科学基金资助项目(U1931116)。

摘　　要：针对具有时变延迟和干扰的非线性系统,利用函数分解将未知参数分离,然后分别辨识;通过构造Lyapunov-Krasovskii函数消除时变延迟的影响,由Lyapunov函数设计周期参数自适应律,得到了一种自适应学习控制策略,使得在L^(2)_(T)-范数下系统的跟踪误差渐近收敛于零且闭环系统的所有信号是有界的;数值仿真证明了该算法的可行性和有效性.A new adaptive control method for nonlinear systems with time-varying delays and disturbances was presented.The scheme used function decomposition to separate the unknown parameters and identify them separately.By constructing Lyapunov-Krasovskii function to eliminate the influence of time-varying delay, a periodic parameter adaptive law was designed by Lyapunov function, and an adaptive learning control strategy was obtained, so that under L^(2)_(T)-norm the tracking error converged asymptotically to zero and all signals in the closed-loop system are bounded.Numerical simulation showed that the algorithm was feasible and effective.

关 键 词：非线性系统 延迟 学习控制 自适应控制 Lyapunov能量函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]