非线性自适应控制的鲁棒性

ROBUSTNESS ANALYSIS ON NONLINEAR ADAPTIVE CONTROL

用锥-扇形理论研究非线性系统的自适应控制的鲁棒性.设计系统时首先对非线性环节进行补偿,补偿误差归入建模误差,在此基础上提出一种修正的投影算法,并用锥-扇形理论证明了算法的鲁棒性.仿真结果表明,该算法的参数容易选择,控制精度高,具有一定的实用性.

In this paper the robustness of adaptive control for nonlinear systems is studied by using conic-sector theory. Nonlinear compensator is designed, and the compensation error is merged into modelling error. A revised projection algorithm is presented and its robustness is analyzed in detail with conic-sector theory. Simulation shows that the algorithm parameters are easy to select, and the control precision is high.