| 推广匹配非线性系统变结构鲁棒自适应控制 |
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| 引用本文： | 杨盐生,贾欣乐. 推广匹配非线性系统变结构鲁棒自适应控制[J]. 系统工程与电子技术, 2002, 24(3): 73-77 |
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| 作者姓名： | 杨盐生 贾欣乐 |
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| 作者单位： | 大连海事大学航海技术研究所,辽宁,大连,116026 |
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| 基金项目： | 交通部专项基金资助课题 (95 0 60 2 2 2 )，国家教委博士点基金资助课题 (980 15 10 1) |
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| 摘 要： | 对于一类不确定非线性系统 ,利用推广匹配条件对系统进行反馈线性化 ,将系统变换成一个具有n-2个积分链和两个含有未知参数和不确定项的方程的非线性系统。在利用极点配置法给出鲁棒自适应滑动模态超平面设计的基础上 ,提出了变结构鲁棒自适应控制律的设计方法 ,并将所提出的设计方法应用于下摆加驱动电机系统的控制律。经仿真研究表明 ,控制效果令人满意。
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| 关 键 词： | 不确定非线性系统 推广匹配 鲁棒控制 自适应控制 |
| 文章编号： | 1001-506X(2002)03-0073-05 |
| 修稿时间： | 2001-01-01 |
Variable Structure Robust Adaptive Control for a Class of Nonlinear System With Extended Matching Conditions |
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| YANG Yan sheng,JIA Xin le. Variable Structure Robust Adaptive Control for a Class of Nonlinear System With Extended Matching Conditions[J]. System Engineering and Electronics, 2002, 24(3): 73-77 |
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| Authors: | YANG Yan sheng JIA Xin le |
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| Abstract: | For an uncertain nonlinear system, it can be transformed into a nonlinear system consisting of a chain of n-2 integrators and two nonlinear equations with unknown parameters by use of feedback linearization technique with extended matching conditions. Based on the robust adaptive sliding mode hyperplane design by means of pole-placement method, a variable structure robust adaptive control scheme is presented. An example illustrating the method described is included for a simple pendulum with motor dynamics. It is shown that the designed system has a satisfactory robustness with respect to perturbations and uncertainties. |
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| Keywords: | Uncertain nonlinear system Extended matching Robust control Adaptive control |
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