一类具有一般不确定性非线性系统的ε-跟踪 I:输出反馈鲁棒自适应控制系统的设计

ε-Tracking of A Class of Nonlinear Systems with General Uncertainties Part I: Design of Output-feedback Robust Adaptive Control Systems

该文考虑一类具有一般不确定性和参数未知的非线性系统 ,首先设计出一个稳定的状态滤波器 ,从而获得状态的实时估计 ,然后依此设计出一种用于跟踪参考信号的输出反馈鲁棒自适应控制器。仿真结果表明 ,所设计的鲁棒自适应控制系统具有良好的跟踪性能 ,可以有效地解决ε 跟踪问题。

In this paper, a class of nonlinear systems with general uncertainties and unknown parameters is considered. Firstly, a stable state filter is designed, hence the real-time state estimation is gotten; and then an output-feedback robust adaptive controller is designed for tracking reference signal. The simulations show the good track effect of the robust adaptive control systems and can solve the ε-tracking problem effectively.