具有自适应内模的一类非线性系统输出调节问题

研究一类包含未知非线性项的非线性系统的鲁棒输出调节问题.此类非线性系统由一包含未知参数的线性中性稳定的外系统驱动.首先运用调节器方程组解和标准内模将输出调节问题转化为镇定问题;然后给出控制律镇定闭环系统,同时利用镇定输入项和外系统信息设计出自适应内模方程.控制律使得闭环系统的信号全局最终有界,且误差被调节至预先设定的任意小的精度值.仿真结果验证了所提出设计方法的有效性.

Output regulation for a class of nonlinear systems with adaptive internal model

This paper studies robust output regulation problem for a class of nonlinear systems with uncertain nonlinearities.The nonlinear system is driven by a linear,neutrally stable exosystem containing unknown parameters.Firstly,solutions to regulator equation and a canonical internal model are proposed to convert the output regulation problem to stabilization problem.Then,a robust control algorithm is designed to stabilize the close-loop system and the adaptive internal model part is presented with stabilization...