一类不确定非线性系统的输出反馈鲁棒自适应控制器的设计与分析

Robust adaptive output-feedback controller design and analysis of a class of uncertain nonlinear systems

考虑一类具有三角形结构和参数未知的不确定性非线性系统 (1) .首先设计出一个稳定的滤波器 ,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自适应控制器 .该控制器对系统的参数和状态的不确定性具有鲁棒性 ,能保证所建立的闭环系统的全局稳定性 ,并解决了ε 跟踪问题 .仿真结果表明 ,所设计的自适应控制器具有良好的跟踪性能 ,而且控制量在允许控制的范围之内 .

A class of uncertain nonlinear systems (1) with a triangular structure and unknown parameters is considered. Firstly, a stable filter is designed, hence the real-time state estimation is gotten; and then a robust adaptive output-feedback controller is designed for tracking reference signal. The controller is robust to the uncertainties of both the parameter and the state of the systems, can guarantee the global stability of the resulting closed-loop system, and has solved the ε -tracking problem. The simulations show the good tracking effect of the designed adaptive controller, and the used data for determining the control action are in the range of the admissible control.