一类非线性激励器系统的鲁棒自适应跟踪

Model-following adaptive robust control for a class of uncertain systems with nonlinear actuators

考虑一类具有非线性激励器不确定系统的鲁棒跟踪问题,其不确定性是部分已知的,所构造的鲁棒自适应控制方案能确保系统的跟踪误差终极一致有界.与已有文献结果相比,未知参数估计的自适应律和控制器是连续的,从而使得所提出的设计方案在实际控制问题中易实现,且与具有线性激励器的系统一样具有较强的鲁棒性.最后通过数值算例进一步说明了该设计方案是有效的.

The robust adaptive tracking problem for a class of uncertain systems with partially known nonlinear uncertainties and nonlinear actuators is discussed. The proposed adaptive robust controller guarantees the tracking error of the systems uniformly ultimately bounded, and makes systems with nonlinear actuators the same robust as those with linear actuators. In contrast to some results in the control literature, the adaptive laws for updating the estimate values of the unknown parameters and the proposed controller are continuous. Moreover, the proposed adaptive control scheme can be easily implemented in practical control due to the continuity of the adaptive laws and the proposed controller. Finally, an illustrative example shows the utilization of the results.