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研究了具有输入状态稳定(input-to-state stability,ISS)未建模动态的一类非线性系统的全局实际输出跟踪控制问题.该类非线性系统具有非线性参数化的未知参数不确定性,未知的非线性不确定性及未建模动态不确定性.与现有结果不同,所考察的系统具有未知的控制系数,其大小及符号等信息都假设是完全未知的.通过利用Nussbaum增益方法,结合积分器反推技术,设计了一个鲁棒自适应状态反馈控制器,所设计的控制器能够实现对任意信号的全局实际跟踪控制.仿真结果验证了控制策略的有效性.
The problem of global real output tracking control for a class of nonlinear systems with input-to-state stability (ISS) unmodeled dynamics is investigated. The nonlinear system has nonlinear parameterized unknown parameter uncertainties , Unknown nonlinear uncertainty and unmodeled dynamic uncertainty.Unlike the existing results, the investigated system has unknown control coefficients, and its size and symbols and other information are assumed to be completely unknown.By using the Nussbaum gain A robust adaptive state feedback controller is designed based on the integrator inverse technique. The designed controller can realize the global actual tracking control of arbitrary signals. The simulation results verify the effectiveness of the control strategy.