摘要
在 backstepping程序中 ,把非线性自适应控制和鲁棒控制连接起来 ,为参数化的严格反馈系统在不确定性存在的情况下 ,建立了一种鲁棒自适应控制方案 .非线性自适应控制被用来处理系统的线性参数化部分 ,而鲁棒控制通过引进非线性阻尼项被用来处理不确定性部分 .与现有的方案不同 ,作者给出了非线性阻尼项的无限种选择 ,而不是仅仅一种选择 .通过使用一种合适的选择 ,能够设计一个鲁棒自适应控制器 .它不仅能够保证对不确定性的鲁棒性 ,而且能够使输出误差任意小 。
By combining nonlinear adaptive control with robust control design in the back stepping procedure, a robust adaptive control scheme is developed for parametric strict feedback systems in the presence of uncertainties. The nonlinear adaptive control design is applied to deal with linearly parametrized part of the systems, while the robust one is applied to deal with the uncertain part by introducing nonlinear damping terms. Unlike the existing schemes, we provide infinite choices of nonlinear functions in the nonlinear damping terms rather than one choice. By using one suitable choice, we can design a robust adaptive controller which can not only guarantee robustness with respect to uncertainties, but also make the output tracking error arbitrarily small and achieve the same or better performance with much less control effort.
出处
《数学物理学报（A辑）》
CSCD
北大核心
2002年第2期194-202,共9页
Acta Mathematica Scientia
基金
教育部高等学校骨干教师资助项目
