论文部分内容阅读
输出机动控制问题通常由几何任务和动态任务两部分组成.对具有参数不确定性的多输入多输出非线性系统,研究了其基于输出反馈的自适应机动控制问题.通过引入滤波器和观测器来实现对不可量测系统状态的虚拟估计.利用向量形式的Backstepping反推方法,构造出了输出反馈自适应控制器,并给出了三种路径变量自适应律设计方案.所提出的控制方案保证了闭环系统的全局渐近稳定性,使得系统同时完成几何任务和动态任务.最后的仿真结果验证了本方法的有效性.
The output maneuvering control problem usually consists of two parts, the geometric task and the dynamic task.This paper studies the adaptive maneuvering control problem based on output feedback for MIMO-based nonlinear systems with parametric uncertainties. By introducing filters and observers To realize the virtual estimation of the state of non-measurable system.Based on the vector backstepping method, an output feedback adaptive controller is constructed and three adaptive schemes of path variables are given.The proposed control scheme The global asymptotic stability of the closed-loop system is guaranteed, which makes the system complete the geometric task and the dynamic task at the same time.The final simulation results verify the effectiveness of the proposed method.