基于鲁棒控制Lyapunov函数的非线性自适应跟踪

研究了一类带有未知参数以及扰动的多输入非线性系统的自适应跟踪问题，利用控制Lyapunov方法设计出一种自适应控制器。该控制器对系统的参数和状态的不确定性具有鲁棒性，并且能保证系统闭环全局稳定。仿真结果表明，该控制方案具有良好的跟踪性能、鲁棒性及参数辨识能力。

Nonlinear Adaptive Tracking Control Based on Robust Control Lyapunov Function

In this paper, the problem of adaptive tracking of a class of multi-input nonlinear systems with unknown constants parameters has been researched. Employing the control Lyapunov function method, an adaptive controller is designed. The controller is robust to the uncertainties of both the parameter and the state of the systems. It can also guarantee the global stability of the closed-loop system. Simulation results demonstrate the good track effect, strong robustness and parameter identification ability of the control strategy.