非线性不确定系统的鲁棒自适应控制方法研究及稳定性分析

Research on the Robust Adaptive Control Method and Stability Analysis for Nonlinear Uncertain System

针对一类存在外界干扰和未建模动态的非线性不定系统,特别是含线性定常的参数不确定性及状态关联的非线性不确定性系统,应用直接自适应控制方法,设计了基于李雅普诺夫稳定性理论的鲁棒自适应控制律和修正律;应用李雅普诺夫稳定判据,对系统的稳定性进行了分析,证明所设计的控制律和修正律具有较强的鲁棒稳定性。

With respect to nonlinear uncertain system in presence of external disturbance and unmodeled dynamics, especially for a class of nonlinear system with linear constant parameter uncertainty and state-dependent uncertainty, using direct adaptive control method, a robust adaptive control law and corresponding update law were designed basing on Lyapunov theory, and system stability was analyzed by Lyapunov Stability Judge. The result indicated that the framework had a good robust and guaranteed the stability of controlled nonlinear system.