非线性系统的直接自适应控制及其改进方法

Direct Adaptive Control and Its Improved Algorithm for Nonlinear Systems

针对非线性系统，提出了一种新的直接自适应控制方法．给出了相应的自适应控制器的设计方法，并分析了所构造的控制器的输出跟踪特性，得到了控制算法收敛的条件．文中还提出了一种改进型控制器——带梯度预报的直接自适应控制器．

A new direct adaptive control law for nonlinear systems was presented. This new direct adaptive control law is independent of these assumptive conditions. Designing method of corresponding adaptive controller and output tracking performance analysis of the controller were presented, and convergent conditions for the control algorithm were obtained. An improved form——the direct adaptive controller with gradient prediction was given. The simulation examples prove the correctness and the validity of the proposed controller.