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针对一类不确定多输入多输出非线性系统,提出了一种局部化鲁棒自适应控制方法.提出的方法采用了指令滤波反推进行虚拟控制律的迭代设计.使用局部化逼近器对未知函数进行在线逼近.引入谱半径,避免了控制系数矩阵的估计必须非奇异的假设.对于固有逼近误差和外部扰动,采用自适应边界控制进行补偿.在自适应律中引入局部化σ修改,保证了边界参数估计的有界性,同时克服了全局遗忘特性.稳定性分析证明了提出的控制方法能够保证闭环系统的所有信号有界.仿真实例进一步验证了提出方法的有效性.
Aiming at a class of uncertain multi-input multi-output nonlinear systems, a local robust adaptive control method is proposed. The proposed method adopts an iterative design of the virtual filtering control law by the instruction filter. Function is introduced.The spectral radius is introduced to avoid the non-singular assumption that the estimation of the control coefficient matrix must be non-singular.The adaptive boundary control is used to compensate for the intrinsic approximation error and external perturbation.The localization of σ is introduced in the adaptive law to ensure The global boundlessness of parameters estimation is overcome and the global forgetting property is overcome.The stability analysis proves that the proposed control method can ensure all the signals in the closed-loop system are bounded.The simulation example further verifies the effectiveness of the proposed method.