摘要
将一类结构和参数均未知且存在外界干扰的非线性系统，等价为具有线性结构的时变系统，在此基础上设计了自适应鲁棒控制器，包括自适应模型补偿、反馈稳定控制和鲁棒反馈控制3部分，实现闭环控制系统信号有界且跟踪误差在期望的精度范围内．理论分析和仿真结果均验证了算法的有效性．
A kind of nonlinear system with unknown structure and parameters in the presence of external disturbances is considered. We treat this type of nonlinear system as a time-varying system with a linear structure, and propose for it an adaptive robust control law which consists of the adaptive model compensation, the stabilization feedback and the robust feedback. It ensures that all signals in the closed-loop system to be bounded and the tracking errors being within a desired range. Theoretical analysis and simulation results validate the proposed controllers.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2010年第8期1081-1085,1092,共6页
Control Theory & Applications
基金
教育部博士点基金资助项目(20070288022)
江苏省自然科学基金资助项目(BK2008404)
江苏省科技支撑计划资助项目(BE2009160)
空间智能控制技术国家级重点实验室资助项目
关键词
非线性系统
线性化
自适应控制
鲁棒控制
nonlinear system
linearation
adaptive control
robust control
