具有未知上界时滞状态扰动的非线性系统自适应鲁棒镇定

Adaptive robust stabilization for a class of nonlinear systems with time-delay state disturbance

讨论了一类具有时滞状态扰动的非线性系统的自适应鲁棒镇定问题.时滞状态扰动的上界是未知的.在控制中通过自适应律估计上界的值,并且利用估计值设计鲁棒控制器.基于Lyapunov＿Krasovskii函数,证明了闭环系统具有一致最终有界意义下的鲁棒稳定性.最后通过一个数值例子的仿真验证了结论的正确性.

Adaptive robust stabilization for a class of nonlinear systems with time-delay state disturbance is discussed.The bound of the time-delay state disturbance is unknown.And an adaptive law is proposed to estimate the bound of the disturbance,and the estimated value is used to design a robust controller.Based on Lyapunov-Krasovskii function,it is shown that the closed-loop system is stable in the sense of uniform ultimately boundedness.Finally,a numerical example is given to verify the correctness of the conclusion.