具有多不确定性平面非线性系统的全局自适应调节  

Global adaptive regulation for planar nonlinear systems with more uncertainties

作　　者：梁磊 闫雪华[1] 田璞 LIANG Lei;YAN Xue-huay;TIAN Pu(School of Electrical Engineering,University of Jinan,Jinan Shandong 250022,China)

机构地区：[1]济南大学自动化与电气工程学院,山东济南250022

出　　处：《控制理论与应用》2024年第11期2053-2060,共8页Control Theory & Applications

基　　金：山东省自然科学基金项目(ZR2021MF004,ZR2020MF067);山东省高等学校青年创新团队发展计划项目资助.

摘　　要：本文通过光滑输出反馈研究了一类具有不可测状态依赖增长的不确定平面非线性系统的全局自适应调节问题.本文的新颖之处主要在于考虑了未知增长率包含输出的多项式函数和只有下界已知的未知控制系数.受相关工作的启发,笔者利用通用控制思想和反推技术,提出了一种非辨识输出反馈控制方案.为了处理系统不确定性,本文引入了具有两个高增益的观测器,且两个动态高增益以新的形式在线调节.同时,引入了一种合适的估计律,克服了控制系数上界未知的困难.所设计的光滑控制器可以同时实现非线性系统状态的全局调节和闭环系统的全局有界.通过一个实例验证了该方法的有效性.In this paper,the problem of global adaptive regulation with unmeasured state dependent growth is investigated by smooth output-feedback for a class of uncertain planar nonlinear systems.The remarkableness of this paper mainly lies in the unknown growth rate consisting of polynomial-of-output,and the unknown control coefficient with only known lower bound.Inspired by closely related works,we propose a non-identifier based output feedback control scheme by using the idea of universal control and backstepping technique.In order to handle the uncertainties of the system,this paper introduces a distinct observer with two high-gains,and the two dynamic high-gains are updated in the new forms.Meanwhile,a proper estimation law is introduced to overcome the lack of the unknown upper bound of control coefficient.The global regulation of the nonlinear system state and the global boundedness of the closed-loop system can be simultaneously achieved by the designed smooth controller.The efficiency of the proposed method is demonstrated by a practical example.

关 键 词：非线性系统 输出多项式增长率 自适应调节 光滑输出反馈 反推 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]