一类非线性系统的自适应鲁棒输出反馈镇定

Continuous Adaptive Robust Output Feedback Stabilization for a Class of Uncertain Nonlinear Systems

讨论了一类不确定非线性系统的鲁棒输出反馈镇定问题，其不确定性是部分已知的．文中所得连续自适应鲁棒输出反馈控制器确保闭环系统终极一致有界．与已有文献结果相比，关于未知参数估计的自适应律是连续的，而且闭环系统解的存在性在通常情况下能被保证．进而，由于输出反馈控制器和自适应律的连续性，使得自适应鲁棒输出反馈控制器在实际控制问题中易于实现，且使系统具有良好的品质．最后，通过数值算例进一步说明该文的设计方案是有效的。

The problem of robust output feedback stabilization of nonlinear systems withpartially known uncertainties is considered.A class of continuous adaptive robust outputfeedback controllers is proposed,which can guarantee uniform ultimate boundedness of theresulting closed-loop systems in the presence of the uncertainties.In contrast with someresults presented in the control literature,the adaptive law for updating the estimate valuesof the unknown parameters is continuous,and the existence of the solutions to the resultingclosed-loop systems in the usual sense can be guaranteed.Moreover,due to the continuityof the output feedback controller and adaptive law,the proposed adaptive robust outputfeedback controller is easily implemented in practical robust control problems,and no cbat-tering will appear in implementation for control.Finally,an illustrative example is given todemonstrate the utilization of the results.