具有未知高频增益的鲁棒自适应反推控制器

Robust adaptive backstepping controller with unknown high-frequency gain

在高频增益未知的情况下,对一类带有未建模动态和输入、输出干扰的系统,给出了一种基于反推技术的鲁棒自适应控制器的设计方法.通过修正传统鲁棒自适应控制中的动态规范化信号和切换-σ算法,证明了闭环系统的所有信号都有界,同时可以取得较好的跟踪性能.仿真结果表明了该方法的有效性.

<Abstrcat> In the case of unknown high-frequency gain,a design method of robust adaptive controller based on backstepping technique is given for a kind of systems with unmodelled dynamics and input/output disturbances.By modifying the dynamic normalizing signal and switching-σ algorithm in the traditional robust adaptive control,all the signals in the closed-loop system are proven to be bounded,meanwhile the better tracking performance can be achieved. Simulation results demonstrate the effectiveness of the approach.