一类非线性系统的自适应控制方法

ADAPTIVE CONTROL OF A KIND OF NONLINEAR SYSTEMS

非线性系统的模型参考自适应控制是自适应理论的一个新的发展方向，目前针对可反馈线性化的系统已经取得了很多研究成果．但以往采用的方法要求系统对未知参数是线性的，且计算复杂度随系统阶次或相对阶的升高而升高．给出一种新的非线性模型参考自适应跟踪控制方法，证明了无需未知参数以线性形式存在。

The present model reference adaptive control methods for nonlinear affine systems require that the nonlinear system should be linear to the unknown parameter vector,and that there should not be unknown parameters in the output equation.On the other hand,the higher the relative degree or the order of the nonlinear system,the more complicated the control and parameter update law.To overcome those drawbacks a novel model reference adaptive nonlinear tracking control scheme is proposed in the paper.It is proved that the controller can reach expected performances in the nonlinear parameterization case,provided that the regressor vector satisfies certain Lipschitz condition.