多变量非线性系统的扩展线性化自适应控制

Adaptive Control of Multivariable Nonlinear Systems by Extended Linearization with Applications

对多变量解析非线性系统提出了一种新的自适应控制方法，即扩展线性化自适应控制。并将其用于含有不确定参数的空间多柔性杆机械臂的位置控制中。数字仿真结果说明了这一方法的有效性。

In this paper, a new adaptive control approach of multivariable analytic nonlinear systems, i.e. adaptive control by extended linearizrtion, is presented. Based on this approach, the position control system of space multi-link flexible mechanical arm containing uncertain parameters is designed. The results of the system simulation show that the approach is effective and suitable.