不确定非线性串联系统的鲁棒H_∞自适应控制

Robust H_∞ Adaptive Control for Uncertain Nonlinear Cascade Systems

针对含有未知参数和干扰的不确定非线性串联系统,运用本质改进的加幂积分器技巧及 backstep ping递归设计方法,提出了问题可解的充分条件以及可解时控制器的构造性算法,设计出一种新的鲁棒 H∞适应控制器,进而实现了闭环系统的鲁棒H∞几乎干扰解耦,仿真结果说明了结论的可行性.

This paper is based on the adding one power integrator and Lyapunov-based recursive scheme.Sufficient conditions for the solvability of the robust H_∞ almost disturbance decoupling problem and the explicit construction of the new robust controller are given for a more restrictive class of nonlinear systems. Further, robust H_∞ almost disturbance decoupling problem for nonlinear cascade systems with parameter uncertainty and disturbance is solved.