一类非线性系统的全局自适应输出跟踪控制

研究一类具有不可控不稳定线性化和未知线性化参数的非线性系统的全局自适应控制·控制目标是设计一种鲁棒自适应非线性状态反馈控制器,实现系统的全局实用输出跟踪·应用Lyapunov稳定性理论和修正的自适应增加幂积分方法,给出了一个系统化的设计程序,递推设计了一种非线性自适应光滑状态反馈控制器·该控制器能保证跟踪误差充分小,且闭环系统所有信号全局有界·仿真结果表明该控制器是可行的并且是有效的·

Global Adaptive Output Tracking Control of a Class of Nonlinear Systems

Focuses on the global adaptive control of a class of uncertain nonlinear systems with uncontrollable unstable linearization and unknown linear parameters. The control object is to design a robust adaptive nonlinear state feedback controller to solve the problem of global output tracking. Based on Lyapunov stability theory and using the modified adaptive power-added integrator as a tool, a nonlinear adaptive smooth-state feedback controller is proposed recursively. The proposed controller can ensure not only output tracking error sufficient small, but also all signals of the closed-loop systems globally bounded. Simulated results show that the controller is feasible and effective.