不确定非线性系统的鲁棒自适应输出反馈控制

基于自适应非线性阻尼，提出一种鲁棒自适应输出反馈控制方法。该方法适用于带有未建模动态、未知非线性、有界扰动、未知非线性参数和不确定控制系数的多输入多输出非线性系统。理论证明，在一定的假设条件下，该方法能保证闭环系统所有动态信号有界；不论有多少不确定非线性参数、多高阶的非线性系统，只需要一个自适应控制参数和观察参数；而且通过选择适当的控制器和观测器参数，能使控制误差和估计误差达到任意小。仿真结果表明了所提出方法的有效性。

Robust adaptive output feedback control for uncertain nonlinear systems

Based on adaptive nonlinear damping, a robust adaptive output feedback controller is proposed for a multi-input and multi-output nonlinear system with unknown nonlinear parameters, uncertain nonlinearities, bounded disturbance, unmodeled dynamics and uncertain control parameters. It is proved that all the signals in the closed-loop are bounded and the control errors and estimation errors can be made arbitrarily small by choosing some design parameters appropriately. The controller only has an adaptive control parameter and an adaptive observer parameter no matter how high the order of the system is and how many unknown parameters there are. Simulation results show the effectiveness of the proposed controller.