一类不确定非线性系统的动态面输出调节方法

Dynamic surface output regulation method for a class of uncertain nonlinear systems

针对一类由线性中性稳定的外系统驱动的具有未建模动态和外界扰动的非线性不确定系统的输出调节问题,结合动态面控制法和内模原理提出一种具有动态面控制的设计方法。根据非线性输出调节问题可解的必要条件,运用状态变换和标准内模将输出调节问题转化为镇定问题。运用动态面控制法将一阶滤波器引入反步设计中,避免了反步设计中所存在的"膨胀项"。引入具有误差的内模方程,根据外系统信息设计出控制律镇定闭环系统。仿真结果表明,得到的控制器能够实现闭环系统的信号全局最终有界且跟踪误差在期望的任意精确度范围内。

For a class of nonlinear uncertain systems driven by a linear,neutrally stable exosystem,output regulation problem is considered with the existence of unmodeled dynamics and external disturbances.The dynamic surface method and internal model principle were utilized to propose a control design method.Based on necessary condition of output regulation problem for nonlinear systems,the output regulation problem was transformed to a stabilization problem by using state variable change and a canonical internal model.The dynamic surface method first introduced order filter into the backstepping design to cope with the problem of ＂explosion of the terms＂ in it.An internal equation with error was designed via exosystem information,and a robust control law was designed to stabilize the closed-loop system.Simulation results via exosystem information show that the control scheme ensures all signals to be bounded and the error signal to be within a desired range.