一类不确定互联系统的鲁棒分散自适应控制

ROBUST DECENTRALIZED ADAPTIVE CONTROL FOR A CLASS OF UNCERTAIN NONLINEAR INTERCONNECTED SYSTEMS

利用反演法的系统性和结构特点,研究了一类含有非线性参数的不确定非线性互联系统的鲁棒分散自适应控制问题.首先,在较直观、较一般的假定下,根据系统的结构特点利用反演法设计出其控制器和自适应律,并且每个子系统控制器和自适应律的构成只利用了本身系统的状态信息,即所谓的分散控制;其次,利用Lyapunov理论证明了所设计的控制器和自适应律使得被控系统的状态及参数估计误差一致终极有界.最后,算例仿真验证了所设计的控制算法的有效性.

By employing systematism and structural characteristics of Backstepping method, this paper studied the robust decentralized adaptive control for a class of uncertain nonlinear interconnected systems with nonlinear parameter. Firstly,under more intuitionistic and more common assumptions, and according to the structural characteristics of the systems,the controller and adaptive laws were proposed based on backstepping,and the controller and adaptive laws of the subsystems just depend on the states information from the subsystems itself,which is called decentralized control. Then it is proved that the designed controller and the adaptive laws make the states of systems controlled, and the parameter estimate errors are uniformly ultimately bounded by Lyapunov theroy. And finally the simulation of an example shows the validity of the control algorithm .