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严格反馈非线性系统的鲁棒自适应逆最优跟踪 被引量：4

Robust adaptive inverse optimal tracking for strict-feedback nonlinear systems
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摘要 针对具有未知定常参数和未知有界扰动的严格反馈非线性系统,结合参考信号,构造了误差系统,并解决了其逆最优控制问题.使用Backstepping算法,设计了误差系统鲁棒自适应逆最优控制器和参数自适应律,从而解决了原系统的鲁棒自适应逆最优跟踪问题,并给出性能估计.仿真结果表明该控制算法的有效性. Combining the reference signal with a strict-feedback nonlinear continuous system with unknown bounded disturbances and constant unknown parameters, an error system was constructed and its inverse optimal robust adaptive control problem was solved. The inverse optimal controller and parameter adaptive laws were designed by using Backstepping algorithm, thus solving the robust adaptive inverse optimal tracking problem was solved for the continuous system. The results of simulation show the effectiveness of the control algorithms.
作者 闫根峰 王俊 奚宏生 陈欢
机构地区 中国科学技术大学自动化系
出处 《中国科学技术大学学报》 CAS CSCD 北大核心 2006年第5期502-506,共5页 JUSTC
基金 安徽省教育厅自然科学基金(2006KJ048B)资助
关键词 未知有界扰动 逆最优 鲁棒自适应跟踪 Backstepping算法 unknown bounded disturbance inverse optimality robust adaptive tracking Backstepping algorithm
分类号 TP202 [自动化与计算机技术—检测技术与自动化装置]
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参考文献9

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二级参考文献31

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共引文献27

同被引文献34

引证文献4

二级引证文献5

中国科学技术大学学报
2006年 第5期

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