一类MIMO非线性不确定系统的自适应无源控制

Adaptive passive control for a class of MIMO nonlinear uncertain systems

研究了一类含有未知参数的多输入多输出非线性不确定系统的自适应无源控制问题.首先,讨论了当控制输入未知常参数系数矩阵分别为对称正定矩阵和可逆矩阵时这类系统的自适应无源控制器设计方法,继而设计出这2种情况下的自适应无源控制器以及相应的参数自适应律.然后,利用李亚普诺夫方法证明了由原系统和所设计的控制器组成的闭环系统是稳定的,且在一定假设条件下,所设计的控制控制器能够使系统自适应无源.最后,给出了一个仿真算例,仿真结果证明所设计的控制器是有效可行的.

An adaptive passive control problem is studied for a class of multi-input multi-output( MIMO) nonlinear systems with unknown parametric uncertainties. The design methods of the adaptive passive controllers for this class of systems are discussed for two different conditions that the unknown constant parametric matrixes of control input are symmetric positive definite matrixes and reversible matrixes,respectively. The correponding adaptive passive controllers and parameter adaptive laws are designed and presented for these two kinds of conditions. Using Lyapunov method it is proved that the closed-loop system composed of the original system and the designed controllers is stable. Under a certain assumption condition,the controller designed can make the system adaptive and passive. Finally,a simulation example is given to prove the effectiveness and feasibility of the proposed method.