不确定非线性系统的自适应输出机动控制

Adaptive output maneuvering control of uncertain nonlinear systems

针对不可控不可稳定线性化的非线性系统,研究了鲁棒自适应输出机动控制问题。在未知时变参数的界未知的情况下,利用增加幂积分技术和鲁棒递推设计方法,构造了光滑自适应机动控制器。该控制器不仅能使闭环系统的输出以任意小的跟踪误差跟踪理想的参考路径,而且沿该路径还满足一定的动态任务,即可以使跟踪速度以任意小的误差跟踪预先给定的理想速度。仿真结果表明了该方法的有效性。

The robust adaptive output maneuvering control problem is developed for a class of nonlinear systems with uncontrollable unstable linearization. To achieve an arbitrary small steady tracking error in the case when the bound of unknown time-varying parameters is not known a prior, a smooth adaptive maneuvering controller is constructed by adding a power integrator technique together with the robust recursive design method. The design procedure is illustrated through an example and the simulation result shows that the controller is feasible and effective.