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针对一类含有未知参数和干扰的非最小相位串联非线性系统,结合H∞控制和自适应控制方法并利用李雅普诺夫函数递推设计方法设计了状态反馈H∞自适应控制器,避免了求解Hamilton_Jacobi_Isaacs不等式设计控制器的困难.该控制器不仅保证闭环系统ISS(input_to_state)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.最后,给出了一个仿真例子,仿真结果充分表明了所设计的控制器的可行性和有效性.
Aiming at a class of nonminimum phase series nonlinear systems with unknown parameters and disturbances, a state feedback H∞ adaptive controller is designed by combining H∞ control and adaptive control method and Lyapunov function recursive design method, which avoids solving the problem Hamilton_Jacobi_Isaacs inequality Difficulties in designing a controller that not only ensures that the closed-loop system ISS (input_to_state) is stable but also makes the system indeterminate for all allowed parameters The L2 gain from the disturbance input to the controllable output is not greater than a given value Finally, A simulation example is given. The simulation results fully demonstrate the feasibility and effectiveness of the proposed controller.