具有iISS未建模动态的非线性系统的状态反馈调节

State-feedback Regulation of Nonlinear Systems with iISS Unmodeled Dynamics

针对一类具有积分输入到状态稳定(Integral input-to-state stability,iISS)未建模动态的非线性系统,本文研究了状态反馈调节问题.利用反推技术和iISS的性质,通过恰当地选取设计函数和参数修正律,给出了一个状态反馈控制器的设计过程.所设计的控制器保证了闭环系统所有信号的有界性,并且状态可以渐近调节到零.仿真例子验证了该控制方案的有效性.

For a class of nonlinear systems with iISS unmod- eled dynamics, this paper investigates the problem of statefeedback regulation. Using the backstepping technique and the properties of iISS, by appropriately choosing the designed functions and update laws of parameters, we give the design procedure of a state-feedback controller. The designed controller guarantees that all the signals of the closed-loop system are bounded, and that the states can be regulated asymptotically to zero. A simulation example demonstrates the effectiveness of the control scheme.