多输入多输出非线性参数系统的鲁棒自适应控制

如何有效地处理输入输出之间的复杂耦合和系统的各种不确定性对多输入多输出非线性参数系统的控制至关重要.通过引入辅助动态信号来刻画未建模动态,采用自适应非线性阻尼的方法抑制参数和非线性不确定性、未知有界扰动、未建模动态和输入输出之间的耦合对系统性能的影响, 并基于控制李亚普诺夫函数法来设计多输入多输出非线性参数系统的鲁棒自适应控制器.所提出的鲁棒自适应控制法不必对系统的未知参数进行估计.理论证明,所提方法保证闭环系统的所有信号一致有界,且通过选择适当的设计参数,可使跟踪误差任意的小.仿真结果例证了所提出控制法的有效性.

Robust Adaptive Control of MIMO Nonlinearly Parameterized Systems

How to deal with the complex coupling between the inputs and outputs and the various uncertainties is crucial to the control of MIMO nonlinearly parameterized systems. A dynamical signal was used to characterize the unmodeled dynamics in the system, adaptive nonlinear damping was employed to dominate the effects of unknown parameters, nonlinear uncertainties, unknown bounded disturbances, unmodeled dynamics and the coupling between the inputs and outputs. Based on the Control Lyapunov Function method, a robust adaptive controller was designed for MIMO nonlinearly parameterized systems. The proposed control scheme does not need to estimate the unknown parameters. It was proved that with the proposed scheme, all the variables in the closed loop system are bounded and the mean-square tracking error can be made arbitrarily small by choosing some design constants appropriately. Simulation results illustrated the effectiveness of the proposed control scheme.