一类随机非线性系统自适应跟踪的模块化设计

Modularized Design of Adaptive Tracking for a Class of Stochastic Nonlinear Systems

对参数严格反馈形式的非线性系统,在含有未知方差Wiener噪声干扰下,为增进系统的稳定性,采用基于估计的模块化设计思想,研究了其跟踪问题。对方差不确定噪声抑制的控制机制,设计了具有鲁棒稳定特性的输入状态稳定控制器,确保系统满足控制器和辨识器的分离设计。应用Swapping技术,设计滤波器将动态参数模型转化为静态模型,并且运用梯度算法设计了参数自适应律。控制器与辨识器结合最终使跟踪误差在概率意义下收敛,试验证明采用方法有效。

The estimation -base modularized design was applied for the adaptive tracking problem for a class of stochastic nonlinear in the form of parametric - strict - feedback driven by Wiener noises of unknown covariance. A complete separation of controller - identifier was achieve by employing stochastic disturbance attenuation method for unknown covariance and using the ISS controller with strong parametric robustness properties. According tO Swapping technique, filters were designed to convert dynamic parametric models into static models with the update laws based on gradient algorithm. The result that the tracking error converges in sense of probability was obtained by using the controller and identifier.