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本文针对具有未知参数不确定和干扰的严格反馈型的非线性系统鲁棒自适应控制提出了一种新的设计方法 ,即动态面控制 .传统的递推算法要求对建模的非线性反复多次微分 .本文方法由于加入了n个低通滤波器使得算法不用对模型非线性进行多次微分 ,因而避免了因“微分项的爆炸”引起的算法复杂性从而简化了算法 .理论分析证明了所设计的鲁棒自适应动态面控制器保证了闭环系统的半全局渐近稳定并且使得输出跟踪期望轨迹 .仿真结果表明了所设计的控制器的有效性和可行性 .
In this paper, we propose a new design method for robust adaptive control of nonlinear systems with uncertain feedback parameters and disturbances, ie, dynamic surface control. The traditional recursive algorithm requires that the nonlinear recurrence of the modeling be repeated Subdifferential.This method simplifies the algorithm by adding n low-pass filters so that the algorithm does not need to differentiate the model nonlinearity multiple times, thus avoiding the complexity of the algorithm due to the “explosion of differential terms.” Theoretical analysis proves that The designed robust adaptive dynamic surface controller ensures the semi-global asymptotic stability of the closed-loop system and enables the output to track the desired trajectory.The simulation results show the effectiveness and feasibility of the proposed controller.