| 严格反馈非线性系统的鲁棒自适应逆最优跟踪 |
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| 引用本文： | 闫根峰,王俊,奚宏生,陈欢.严格反馈非线性系统的鲁棒自适应逆最优跟踪[J].中国科学技术大学学报,2006,36(5):502-506. |
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| 作者姓名： | 闫根峰 王俊 奚宏生 陈欢 |
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| 作者单位： | 中国科学技术大学自动化系,安徽,合肥,230027 |
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| 基金项目： | 安徽省教育厅自然科学基金 |
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| 摘 要： | 针对具有未知定常参数和未知有界扰动的严格反馈非线性系统,结合参考信号,构造了误差系统,并解决了其逆最优控制问题.使用Backstepping算法,设计了误差系统鲁棒自适应逆最优控制器和参数自适应律,从而解决了原系统的鲁棒自适应逆最优跟踪问题,并给出性能估计.仿真结果表明该控制算法的有效性.
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| 关 键 词： | 未知有界扰动 逆最优 鲁棒自适应跟踪 Backstepping算法 |
| 文章编号： | 0253-2778(2006)05-0502-05 |
| 收稿时间： | 03 15 2004 12:00AM |
| 修稿时间： | 11 10 2005 12:00AM |
Robust adaptive inverse optimal tracking for strict-feedback nonlinear systems |
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| YAN Gen-feng,WANG Jun,XI Hong-sheng,CHEN Huan.Robust adaptive inverse optimal tracking for strict-feedback nonlinear systems[J].Journal of University of Science and Technology of China,2006,36(5):502-506. |
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| Authors: | YAN Gen-feng WANG Jun XI Hong-sheng CHEN Huan |
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| Affiliation: | Department of Automation, University of Science and Technology of China, Hefei 230027, China |
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| Abstract: | Combining the reference signal with a strict-feedback nonlinear continuous system with unknown bounded disturbances and constant unknown parameters, an error system was constructed and its inverse optimal robust adaptive control problem was solved. The inverse optimal controller and parameter adaptive laws were designed by using Backstepping algorithm, thus solving the robust adaptive inverse optimal tracking problem was solved for the continuous system. The results of simulation show the effectiveness of the control algorithms. |
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| Keywords: | unknown bounded disturbance inverse optimality robust adaptive tracking Backstepping algorithm |
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