不确定非线性系统的鲁棒自适应控制

针对一类具有一般不确定性的非线性系统（包括非线性不确定性、有界干扰、时变参数等），利用递推设计方法，设计了一种新的用于输出调节的鲁棒自适应控制器．该控制器对非线性不确定性和有界干扰具有鲁棒性，并能保证闭环系统信号的全局有界性．其优点是对不确定性的知识要求较少．仿真实例表明，设计的鲁棒自适应控制器具有满意的控制效果．

Robust Adaptive Control of Uncertain Nonlinear Systems

Using recurrence design method, a new class of robust adaptive controllers for output regulation are designed. It is used for a class of nonlinear systems with general uncertainties which include nonlinear uncertainties, bounded disturbance and time varying parameters. The controllers are robust to some nonlinear uncertainties and bounded disturbance, and can ensure the global boundness of all closed loop signals. It's advantage is that less knowledge of the uncertainties is required and, therefore, it can deal with much more system uncertainties than the existing schemes in this area. The result obtained here extends the result about parametric strict feedback systems with bounded disturbances much further. The simulation example shows the good control effects of the designed adaptive controllers.