一类不确定非完整系统的鲁棒自适应衰减问题

Robust Adaptive Disturbance Attenuation for a Class of Uncertain Nonholonomic Systems

研究了一类具有外扰的不确定链式非完整系统自适应H∞控制问题.基于state-scaling变换技巧和反推设计方法构造自适应H∞控制器,使闭环系统的干扰输入在L2增益下对系统输出的影响任意小,并且在无外部干扰时,系统是稳定的,实现了非完整系统的鲁棒自适应控制的现有结论在干扰输入情况下的推广.

The problem of adaptive H∞ control is addressed for a class of uncertain nonholonomic systems in chained form with external disturbance.Using state-scaling and backstepping technique,a novel adaptive H∞ controller is constructed.The proposed controller guarantees that the effect from external disturbance to the system output in sense of L2 gain is arbitrarily small and that the system states are asymptotically stable without disturbance.Recent results in robust adaptive control of uncertain nonholonomic systems are extended to include external disturbance inputs.