摘要
研究了一类含有未知参数和干扰的串联非线性系统 H∞ 鲁棒自适应控制问题。结合 H∞ 控制和自适应控制 ,基于李亚普诺夫函数递推设计方法设计了 H∞ 状态反馈自适应控制器 ,并且得出了控制器的精确解 ,避免了求解 HJI不等式设计控制器的困难。该控制器不仅保证闭环系统 ISS稳定 ,而且使得系统对于所有允许的参数不确定从干扰输入到可控输出的 L2 增益不大于给定的值。仿真结果表明了所设计的控制器的可行性和有效性。
The adaptive robust control problem for a class of cascaded nonlinear system with unknown parameters and disturbances is studied. The problem is the design of adaptive controller for H ∞ state feedback such that the closed system ensures input to state to be stable. And the L 2 gain from the disturbance input to the controlled output is not larger than a prescribed value for all admissible parameter uncertainties.By combining robust control with adaptive control,a recursive Lyapunov based design approach is developed to construct the controller explicitly and avoids to solve Hamilton Jacobi Issacs equation or inequality. Simulational result demonstrates the feasibility and effectiveness of controllers.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2003年第2期198-202,共5页
Journal of Nanjing University of Aeronautics & Astronautics
基金
国家自然科学基金 (60 1 740 45 )资助项目
