基于单位分解的非线性不确定系统的PI自适应控制设计(英文)

PI adaptive control based on partition of unity for a class of uncertain nonlinear systems

利用单位分解在紧致域上能够以任意给定精度逼近连续函数的性质,针对一类不确定非线性系统设计了带有PI结构的自适应跟踪控制器.结果表明:这种控制器可以使输出跟踪误差渐近收敛到零点的一个小邻域内,并保证闭环系统的所有状态一致有界.最后的仿真实例说明了该方法的有效性.

By utilizing the property of partition of unity can approximate any continuous function on the compact set at arbitrary precision.Tthe robust tracking controller with PI structure and adaptive laws is designed for a class of uncertain nonlinear systems with large and fast disturbances.The results show that the tracking errors converge is close to zero and all states in the closed-loop systems are bounded via the controller.Finally,the work of an earlier reference in a numerical simulation is compared to illustrate the validity of the method in this paper.