具有高阶时延的离散非仿射非线性系统的自适应跟踪控制  

Adaptive tracking control of discrete-time non-affine nonlinear systems with high-order time delays

作　　者：张言军 Yanjun ZHANG(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《中国科学：信息科学》2023年第3期535-549,共15页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:62173323,61925303,62088101);北京理工大学青年教师学术启动计划资助项目。

摘　　要：本文研究了一类具有高阶输入–输出时延的非仿射非线性离散不确定系统的自适应输出跟踪控制问题,提出了一种基于隐函数的自适应输出反馈输出跟踪控制方案.该方案主要解决了两个技术问题:一是构造了基于未知参数估计和未来时刻信号估计的隐函数方程解的自适应控制律,解决了因系统高阶时延导致的控制律因果矛盾问题并实现了闭环稳定和渐近输出跟踪;二是针对非仿射非线性控制律难求解问题,提出了基于迭代解的解析自适应控制律,实现了闭环稳定和实用输出跟踪.最后仿真研究证实了所提出控制方案的有效性.This paper addresses the adaptive output-tracking control problem for a class of discrete-time nonaffine nonlinear systems with high-order time delays,and proposes an implicit function-based adaptive outputfeedback output-tracking control scheme.This scheme mainly solves two technical problems.One problem is constructing an implicit function equation solution-based adaptive control law using estimates of unknown parameters and future time signals.This control law overcomes the causal contradiction problem caused by the high-order time delays and achieves closed-loop stability and asymptotic output tracking.The other problem is proposing an iterative solution-based analytical adaptive control law that achieves closed-loop stability and practical output tracking.Finally,a simulation study verifies the effectiveness of the proposed control scheme.

关 键 词：自适应控制 非仿射非线性 闭环稳定 输出跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]