For a class of nonlinear systems with dynamic uncertainties, robust adaptive stabilization problem is considered in this paper. Firstly, by introducing an observer, an augmented system is obtained. Based on the system...For a class of nonlinear systems with dynamic uncertainties, robust adaptive stabilization problem is considered in this paper. Firstly, by introducing an observer, an augmented system is obtained. Based on the system, we construct an exp-ISpS Lyapunov function for the unmodeled dynamics, prove that the unmodeled dynamics is exp-ISpS, and then obtain a dynamic normalizing signal to counteract the dynamic disturbances. By the backstepping technique, an adaptive controller is given, it is proved that all the signals in the adaptive control system are globally uniformly ultimately bounded, and the output can be regulated to the origin with any prescribed accuracy. A simulation example further demonstrates the efficiency of the control scheme.展开更多
For a large class of discrete-time multivariable plants with arbitrary relative degrees,the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions...For a large class of discrete-time multivariable plants with arbitrary relative degrees,the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions.The algorithm is based on a new parametrization derived from the high frequency gain matrix factorization Kp=LDU under the condition that the signs of the leading principal minors of/fp are known.By reproving the discrete-time Lp and L2σnorm relationship between inputs and outputs,establishing the properties of discrete-time adaptive law,defining the normalizing signal,and relating the signal with all signals in the closed-loop system,the stability and convergence of the discrete-time multivariable model reference adaptive control scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.展开更多
基金This work was supported by the National Natural Science Foundation of China (No. 60304003)Program for New Century Excellent Talents in University (No. NCET-05-0607).
文摘For a class of nonlinear systems with dynamic uncertainties, robust adaptive stabilization problem is considered in this paper. Firstly, by introducing an observer, an augmented system is obtained. Based on the system, we construct an exp-ISpS Lyapunov function for the unmodeled dynamics, prove that the unmodeled dynamics is exp-ISpS, and then obtain a dynamic normalizing signal to counteract the dynamic disturbances. By the backstepping technique, an adaptive controller is given, it is proved that all the signals in the adaptive control system are globally uniformly ultimately bounded, and the output can be regulated to the origin with any prescribed accuracy. A simulation example further demonstrates the efficiency of the control scheme.
基金Program for New Century Excellent Talents in Universities of China(No.NCET-05-0607)National Natural Science Foundation ofChina(No.60774010).
文摘For a large class of discrete-time multivariable plants with arbitrary relative degrees,the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions.The algorithm is based on a new parametrization derived from the high frequency gain matrix factorization Kp=LDU under the condition that the signs of the leading principal minors of/fp are known.By reproving the discrete-time Lp and L2σnorm relationship between inputs and outputs,establishing the properties of discrete-time adaptive law,defining the normalizing signal,and relating the signal with all signals in the closed-loop system,the stability and convergence of the discrete-time multivariable model reference adaptive control scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.
