一类未知参数非线性系统的自适应无源控制

Adaptive Passive Control of a Class of Nonlinear Systems with Unknown Parameters

对一类含有未知参数的本质非线性系统,通常的Backstepping方法无法应用。为此,提出一种基于状态反馈的自适应无源控制对策,通过对非线性系统进行反馈无源化控制,设计自适应无源镇定控制器和自适应无源输出跟踪控制器。设计中适当调节自适应无源控制器参数,能够保证闭环系统稳定且所有信号全局一致有界,从而解决了此类含有未知参数非线性系统的稳定性和输出跟踪问题。仿真算例验证了提出控制方案的有效性,表明系统具有较强的稳定性和跟踪特性。

For a class of uncertain inherently nonlinear systems, it can not be satisfied by using Backstepping method. An adaptive passive control scheme based on state feedback is proposed, by employing feedback passification control, designing adaptive passive stabilization controller and adaptive passive output tracking controller. The proposed controllers could ensure the stabilization of the closed-loop system and all signals globally uniformly bounded by tuning the adaptive passive control parameters, so that it has solved the stabilization and tracking problems about this class of uncertain inherently nonlinear systems. A simulation example verifies the va- lidity of the proposed control scheme, and shows that the system has strong stability and tracking characteristic.