一类具有高增益观测器的非线性系统的输出调节

Output regulation of a glass of uncertain nonlinear systems based on high-gain state observers

针对具有由非线性外部系统产生的未知不确定性函数和未建模动态的非线性不确定系统,研究了其跟踪和干扰抑制问题。首先运用状态变换将输出调节问题转化为非线性系统的镇定问题,接着引入动态信号解决了动态扰动,并设计出高增益的状态观测器去估计不可测的状态。然后根据外系统信息设计自适应的非线性内模,结合自适应控制理论、Backstepping设计方法、模糊控制方法和Lyapunov法给出了输出反馈的自适应模糊控制器和自适应控制律,所提出的输出反馈控制器和自适应律能够实现整个闭环系统的跟踪和干扰抑制,并使得跟踪误差能渐近收敛到给定的任意小的领域内。最后仿真结果验证了所提出的控制器的有效性。

Attitude tracking and disturbance rejection problem of a glass of nonlinear systems with unmod- eled dynamics and unknown functions driven by a nonlinear exosystem with the existence of uncertain function and external disturbances is considered. Firstly output regulation problem was transformed to sta- bilization problem by using state variable change. Then to solve dynamic uncertainty dynamic signal was introduced, and high-gain observers were designed to estimate the unpredictable state. An adaptive non- linear internal model was designed via exosystem information. The adaptive control theory, Backstepping design method, fuzzy control method and Lyapunov method were utilized to propose an adaptive state con- trols and adaptive control laws. The controls and laws were designed to achieve in attitude tracking and disturbance rejection of the closed-loop system and tracking error is asymptotically regulated to the arbi- trarily small neighbourhood. At last simulation results show its effectiveness.