摘要
通过综合利用“加幂积分器”的方法、“不连续投影”技巧和state scaling技巧构造出了一个不连续的动态适应控制律,解决了一类高阶参数非完整系统的适应调节问题.且所求控制律能确保未知参数的估值在一个预先给定范围内.
The problem of adaptive regulation for a class of high-order parametric nonholonomic systems drained-form is discussed. Using adding a power integrator technique and state scalivg with discontinuous projection technique, a discontinuous adaptive dynamic controller was constructed. The controller guarantees the estimated value of unknown parameter in the prescribed extent.
出处
《应用数学和力学》
CSCD
北大核心
2006年第4期447-453,共7页
Applied Mathematics and Mechanics
基金
河南省教委基金资助项目(2003110002)
关键词
非完整系统
适应控制
稳定性
nonholonomic system
adaptive control
triangular system
stabilization
