具有未建模动态的时变关联系统的鲁棒分散自适应镇定

Robust decentralized adaptive stabilization for time-varying interconnected systems with unmodeled dynamics

针对一类具有动态、静态关联项和未建模动态的时变关联系统,通过利用反推设计方法和σ-修正自适应律,研究了鲁棒分散自适应镇定问题．当时变参数的变化率及未建模动态的幅值分别在某些范围内变化时,证明了闭环系统的所有信号都有界,且每一个子系统的输出与系统参数的变化率有关．仿真例子验证了控制方案的有效性．

For a class of time-varying interconnected systems with dynamic and static interconnections, as well as unmodeled dynamics, the problem of robust decentralized adaptive stabilization is studied by using the backstepping design method and σ-modification adaptive laws. It is proved that when the variation rate of time-varying parameters and the magnitude of the unmodeled dynamics are changing in some ranges, respectively, all the signals in the closed-loop system are bounded, and the output of each subsystem is relevant to the variation rate of system parameters. The effectiveness of the control scheme is demonstrated by a simulation example.