非线性时滞系统自适应输出反馈跟踪控制

针对一类参数化非线性时滞输出反馈系统,提出了一种自适应输出跟踪控制器的设计方案。引入时滞滤波器估计未知系统状态,采用backstepping技术设计控制律和参数自适应律,运用占优方法处理非线性时滞项,从而放宽了对非线性时滞函数的要求,实现了对给定目标轨线的全局渐近跟踪,同时保证闭环系统所有信号一致有界。基于Lyapunov-Krasoviskii泛函方法证明了整个闭环系统的稳定性。实例仿真说明了该方案的可行性。

Adaptive output feedback tracking control for nonlinear time-delay systems

A design approach of adaptive output tracking controller is proposed for a class of parametric nonlinear time-delay output feedback systems.Time-delay filters are introduced to estimate the unknown states of the systems.Backstepping technique is used to design the control law and the parameter adaptive law. The nonlinear time-delay terms of the systems are dealt with by the domination method and the requirement on the nonlinear time-delay functions is relaxed.The global asymptotical tracking of given trajectories is achieved and the boundedness of all signals of the resulted closed-loop system is also guaranteed.Based on the method of Lyapunov-Krasoviskii functional,the stability of the closedloop system is proved.The feasibility of the proposed approach is illustrated by a simulation example.