虚拟控制方向符号未知的非完整系统的自适应输出反馈镇定

Adaptive Output-Feedback Stabilization for Nonholonomic Systems with Unknown Virtual Control Coefficient Signs

研究了有强非线性漂移项的非完整链式系统的输出反馈自适应稳定控制器的设计,其中这些漂移项包括非线性动态模型、未建模动态以及模型的未知参数,并且虚拟控制系数的符号也是未知的;目的是设计一个非线性输出反馈切换控制器使闭环系统全局渐进调节。用来对系统的状态和未知的参数的估计分别采用了一个新颖的观测器和估计器;在输出反馈自适应控制器的设计工程中,建设性的将积分反推技术地方法和基于给出观测器和参数估计器的方法结合在一起,同时Nussbaum增益作为自适应反推技术的一部分来处理虚拟控制系数符号的未知;仿真例子证明了给出方案的有效性。

This paper investigates the design of output-feedback adaptive stabilization controller for nonholonomic chained system with strong non-linear drifts,including modeled non-linear dynamics,unmodeled dynamics,and those modeled with unknown parameters.Also the virtual control coefficient signs are unknown.The purpose is to design a non-linear output feedback switching controller such that the closed loop system is globally asymptotically stable.The novel observer and estimator are introduced for states and parameter estimates,respectively.A constructive design procedure for output-feedback adaptive controller is given by using the integrator backstepping approach and based on the proposed observer and parameter estimator.And the nussbaum gain is incorporated in the adaptive backstepping technique to tackle the unknown virtual control coefficient signs.An example is given to show the effectiveness of the proposed scheme.