一类具有匹配时滞状态扰动的非线性系统自适应鲁棒镇定

Adaptive robust stabilization of a class of nonlinear systems with matched time-delay state disturbances

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,所考虑的时滞状态扰动的上界与时变函数相关并且含有未知参数.通过自适应律估计未知参数,并且利用估计值设计了鲁棒控制器.同时,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.

The paper discusses adaptive robust stabilization for a class of nonlinear systems with matched time-delay state disturbances. The upper bounds of the time-delay state disturbances depend on time-varying functions and contain unknown parameters. Adaptive laws are proposed to estimate the unknown parameters,and robust controllers are designed using the estimated values. 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.