基于模型参考的鲁棒自适应控制

针对一类具有未知参数、未建模动态和外界干扰的不确定非线性系统,选择适当的参数对这些不确定性进行估值、补偿和模型参考,利用Backstepping方法,设计了一种新的鲁棒自适应控制器。该控制器能保证闭环系统的所有信号是全局有界的,跟踪误差收敛到一个小的残差集内。仿真结果表明该方法的有效性。

Robust Adaptive Control Based on Model Reference

An adaptive robust controller is proposed for a class of uncertain nonlinear system which includes unknown parameter,undynamic model and outside disturbance.The design method is based on the Backstepping select proper parameter and model reference in order to estimate and compensate the uncertainty.All signals and states of the controller systems are ensured with global boundness,the tracking error converging to a residual set.Simulation results demonstrate the effective of the approach.