一类不确定非线性系统的反演自适应控制

Adaptive Backstepping Control of a Class of Uncertain Nonlinear Systems

针对一类包括非线性不确定性、未知间隙滞后特性等的不确定非线性单输入单输出系统,结合反演和自适应控制设计了反演自适应控制器,可使系统达稳定,并能保证系统信号的全局有界性,对非线性不确定性具一定的鲁棒性,且不要求干扰项有界。由仿真结果可知:设计的反演自适应控制器的控制效果较佳。对自适应控制系统有较大的参考意义。

An adaptive backstepping controller that integrated recursive and adaptive control method was proposed for a class of single input single output uncertain nonlinear system including nonlinear uncertainty and unknown backlashlike hysteresis in this paper,which could implement stability and ensure that signal was globule boundness.The priority of this method was that the knowledge on the bound of disturbance-like term was not required.The simulation result showed that the control of adaptive control systems w...