一类不确定非线性系统的鲁棒自适应控制

针对一类包括非线性不确定性、有界干扰、时变参数等的具有纯参数反馈形式的不确定非线性单输入单输出系统,利用反演设计方法同自适应控制相结合的方法,设计了状态反馈鲁棒自适应控制器.该控制器能使系统达到渐进稳定,并能保证闭环系统信号的全局有界性,对非线性不确定性和有界干扰具有一定的鲁棒性,且对不确定性的知识要求不多.从仿真实例看出,所设计的鲁棒自适应控制器具有满意的控制效果,而且控制量在容许控制的范围之内.

Adaptive robust control of a class of nonlinear systems with uncertainty

An adaptive robust control method is proposed for a class of single input single output(SISO) uncertain nonlinear systems of pure-parametric-feedback form.The uncertainties of the system include nonlinear uncertainty,bounded disturbances and time-varying parameters.The recursive design method is combined with adaptive control method to design the state-feedback adaptive robust controller.The controller is robust to some nonlinear uncertainties and bounded disturbances.The namely asymptotic stability of adaptive control in the presence of uncertainties is proved.All signals and states of the controlled systems are ensured with global boundness.The priority of this method is that less knowledge of the uncertainties is required.The simulation result verifies the efficiency of the suggested design method and the control action is in the range of the admissible control.