多输入多输出不确定非线性系统的输出反馈自适应机动控制

Output feedback adaptive maneuvering for multi-input multi-output uncertain nonlinear systems

输出机动控制问题通常由几何任务和动态任务两部分组成.对具有参数不确定性的多输入多输出非线性系统,研究了其基于输出反馈的自适应机动控制问题.通过引入滤波器和观测器来实现对不可量测系统状态的虚拟估计.利用向量形式的Backstepping反推方法,构造出了输出反馈自适应控制器,并给出了三种路径变量自适应律设计方案.所提出的控制方案保证了闭环系统的全局渐近稳定性,使得系统同时完成几何任务和动态任务.最后的仿真结果验证了本方法的有效性.

The output maneuvering problem generally consists of geometric task and dynamic task. In this paper, the adaptive maneuvering control based on output feedback is studied for multi-input multi-output nonlinear system with parametric uncertainty. The virtual estimation of the controlled system states is achieved by introducing filters and observer. Based on the backstepping approach in vector form, an output feedback adaptive maneuvering control scheme is proposed and three kinds of adaptive laws governing the path variable are presented. The geometric and the dynamic tasks are solved, meanwhile the global stability of the closed loop systems is guaranteed through the control scheme. The simulation results show the effectiveness of the proposed scheme.