| 鲁棒自适应反推控制器的降阶设计 |
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| 引用本文： | 吴昭景,解学军,张嗣瀛.鲁棒自适应反推控制器的降阶设计[J].自动化学报,2005,31(4):543-548. |
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| 作者姓名： | 吴昭景 解学军 张嗣瀛 |
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| 作者单位： | 1.Department of Mathematics and Information Science,Yantai University, Yantai 264005 |
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| 基金项目： | SupportedbyNationalNaturalScienceFoundationofP.R.China(60304003),theNaturalScienceFoundationofShandongProvince(Q2002G02),andtheDoctoralFoundationofShandongProvince(03BS092) |
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| 摘 要： | For a class of systems with unmodeled dynamics, robust adaptive stabilization problem is considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introducing a reduced-order observer, an error system is obtained. Based on the system, a reduced-order adaptive backstepping controller design scheme is given. It is proved that all the signals in the adaptive control system are globally uniformly bounded, and the regulation error converges to zero asymptotically. Due to the order deduction of the controller, the design scheme in this paper has more practical values. A simulation example further demonstrates the efficiency of the control scheme.
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| 关 键 词： | Robustness reduced-order backstepping adaptive control unmodeled dynamics |
| 收稿时间： | 2004-5-24 |
| 修稿时间： | 2004年6月24日 |
The Reduced-order Design of Robust Adaptive Backstepping Controller |
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| WU Zhao-Jing,Xie Xue-jun,ZHANG Si-Ying.The Reduced-order Design of Robust Adaptive Backstepping Controller[J].Acta Automatica Sinica,2005,31(4):543-548. |
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| Authors: | WU Zhao-Jing Xie Xue-jun ZHANG Si-Ying |
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| Affiliation: | 1.Department of Mathematics and Information Science,Yantai University, Yantai 264005 |
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| Abstract: | For a class of systems with unmodeled dynamics, robust adaptive stabilization problem is considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introducing a reduced-order observer, an error system is obtained. Based on the system, a reduced-order adaptive backstepping controller design scheme is given. It is proved that all the signals in the adaptive control system are globally uniformly bounded, and the regulation error converges to zero asymptotically. Due to the order deduction of the controller, the design scheme in this paper has more practical values. A simulation example further demonstrates the efficiency of the control scheme. |
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| Keywords: | Robustness reduced-order backstepping adaptive control unmodeled dynamics |
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