摘要
针对包含静态不确定和未建模动态等一类不确定非线性系统,研究了其在线性、中性稳定的外系统驱动下的鲁棒输出调节问题.设计过程主要分为两部分,首先运用调节器方程解和标准内模将输出调节问题转化为鲁棒镇定问题;然后给出鲁棒自适应控制律镇定闭环系统,同时利用控制输入项和外系统信息设计出内模方程.调节器使闭环系统的信号全局最终有界,且误差被调节至渐近趋于零.仿真结果验证了设计方法的有效性.
Robust output regulation for a class of nonlinear systems with static uncertainties and unmodeled dynamics was dealt with. The nonlinear system was driven by a linear, neutrally stable exosystem. The design procedure was mainly split into two parts. Firstly, solutions to regulator equations and a canonical internal model were proposed to convert the output regulation to robust stabilization problem. Then, a robust adaptive control algorithm was designed to stabilize the closed-loop system and the internal model part was presented with stabilization inputs and exosystem information. The control scheme regulated the error signal to the origin asymptotically while maintaining overall signals ultimately bounded. Simulation results illustrate its effectiveness.
基金
高等学校博士学科点专项科研基金(20050358044)
国家自然科学基金(60674029)资助
关键词
非线性系统
不确定
输出调节
内模
nonlinear systems
uncertainty
output regulation
internal model
