一类高阶非线性系统的自适应动态面控制

研究了一类不确定高阶非线性系统的稳定跟踪控制问题,并基于动态面控制技术,提出一种自适应控制的设计方案.该方法不仅取消了已有文献中高阶非线性系统的控制系数为已知常数或存在已知上下界的假设,而且通过引入1阶滤波器,消除了后推设计中由于反复对虚拟控制求导而导致的复杂性问题.利用Lyapunov方法,证明了闭环系统是半全局一致终结有界,通过适当选取设计参数,跟踪误差可收敛到原点的一个小邻域内.仿真结果表明了所提控制方法的有效性.

Adaptive DSC for a class of high-order nonlinear systems

The problem of adaptive dynamic surface control(DSC) for a class of high-order nonlinear uncertain systems is discussed.Using DSC technique,a novel design scheme of adaptive controller is proposed.The approach removes the assumption that the control coefficients are known as constants or values with known upper and lower boundaries.In addition,the problem of explosion of complexity in traditional backstepping design,which is caused by repeated differentiations of certain nonlinear function such as virtual control,is overcome by introducing the first order filter.By using Lyapunov method,the closed-loop systems is shown to be semi-globally uniformly ultimately bounded,with tracking errors converging to a small neighborhood of origin by appropriately choosing design constants.Simulation results demonstrate the effectiveness of the approach.