一类MIMO非线性系统的局部化自适应控制

Localized adaptive control for a class of MIMO nonlinear systems

针对一类不确定多输入多输出非线性系统,提出了一种局部化鲁棒自适应控制方法.提出的方法采用了指令滤波反推进行虚拟控制律的迭代设计.使用局部化逼近器对未知函数进行在线逼近.引入谱半径,避免了控制系数矩阵的估计必须非奇异的假设.对于固有逼近误差和外部扰动,采用自适应边界控制进行补偿.在自适应律中引入局部化σ修改,保证了边界参数估计的有界性,同时克服了全局遗忘特性.稳定性分析证明了提出的控制方法能够保证闭环系统的所有信号有界.仿真实例进一步验证了提出方法的有效性.

Localized robust adaptive control was proposed for a class of uncertain multiple-input-multiple- output nonlinear systems. The proposed method used command filtering backstepping method to design virtual control law. Localized approximators were used to approximate unknown functions online. Spectral radius in- troduction avoided the assumption that the control coefficient matrix estimation must be nonsingular. The in- herent approximation errors and external disturbances were compensated by adaptive bounding control. Local- ized o--modification guaranteed boundedness of bounding parameter estimation and overcame the global forget- ting. It was proved that the proposed control method can guarantee boundedness of all signals in the closed- loop system. Simulation examples demonstrated the effectiveness of the proposed method.