一类非线性系统的鲁棒自适应控制

针对一类含有不确定参数和未知扰动的非线性系统，提出一种鲁棒自适应控制方法以确保系统输出稳定地精确跟踪给定的参考信号。控制器的设计分两步进行：首先，在不考虑扰动的情况下，采用一种基于参数映射的Lyapunov设计方法设计系统参数自适应控制器；然后，在该自适应控制器的基础上，采用衰减控制策略设计鲁棒补偿器，实现对扰动的抑制。最后通过数字仿真验证了设计方案的有效性。

Robust Adaptive Control for a Class of Nonlinear Systems

A robust adaptive control scheme was proposed for a class of nonlinear systems in the presence of unknown parameters and unmodeled dynamics (or disturbances). The whole design was divided into two steps. Firstly, a parameter adaptive control was developed using a Lyapunov-based design that employs a parameter projection algorithm without regard to the unmodeled dynamics or disturbances. Then, based on the developed adaptive control, a nonlinear damping control part was added to cope with the problem of the unmodeled dynamics or disturbances. Finally, numerical simulation study was provided to verify the effectiveness of the design.