严格反馈非线性系统中参数收敛的系统化方法

SYSTEMATIC METHOD OF PARAMETER CONVERGENCE IN STRICT-FEEDBACK NONLINEAR SYSTEMS

研究严格反馈非线性系统中参数的收敛性.在适当的持续激励条件下,通过构造一个显式、全局的强Lyapunov函数,给出了系统参数估计收敛于真值的充分条件,且闭环信号全局一致有界,跟踪误差渐近收敛于零.仿真算例验证了设计方案的可行性和有效性.

This paper considers the parameter convergence properties of strict-feedback nonlinear systems.Under an appropriate persistency of excitation condition,by constructing an explicit,global,strong Lyapunov function,a sufficient condition concerning the parameter convergence properties is given,and all the closed-loop signals are globally uniformly bounded,the tracking error converges to zero asymptotically.The feasibility and effectiveness of the proposed method is illustrated with a simulation example.