一类不确定非线性系统的鲁棒自适应ε-输出跟踪控制

Robust adaptive ε-output-tracking control for a class of uncertain nonlinear systems

针对一类不确定非线性系统,讨论了鲁棒自适应ε 输出跟踪问题.利用Backstepping方法设计了一种自适应光滑状态反馈控制器,使系统输出跟踪给定的C1参考输出信号.在参考信号及其导数均有界的条件下,得到了全局ε 输出跟踪,且闭环系统所有信号均全局一致有界.仿真结果表明了该设计方法的有效性.

For a class of uncertain nonlinear systems, the robust adaptive Ε-output-tracking control problem is dealt with. By means of the backstepping method, a robust adaptive state feedback controller is designed. Under the assumption that the bounded reference output signal is C1 only and its derivative is bounded, the global Ε-output-tracking is obtained. Moreover all the signals in the closed-loop systems are globally uniformly bounded. The simulation results show the validity of the method.