一类高阶非线性不确定系统自适应稳定控制

研究了一类高阶非线性不确定性系统的自适应稳定控制设计问题.因该系统的非线性程度高,其控制系数不等同、符号已知、但数值未知,故在此之前其稳定控制设计问题没有得到解决.本文应用自适应技术,结合设计参数的适当选取,从而得到了设计该类非线性系统状态反馈稳定控制器的新方法,并基于反推技术,给出了稳定控制器的设计步骤.所设计的状态反馈控制器使得闭环系统的状态全局渐近收敛于零,其余闭环信号一致有界.最后通过一个仿真例子说明了控制设计方法的有效性.

Adaptive stabilizing control for a class of high-order nonlinear uncertain systems

The adaptive stabilizing control design is investigated for a class of high-order nonlinear uncertain systems with inherent nonlinearities and nonidentical unknown control coefficients with known signs. A new approach to design the state-feedback stabilizing controller is developed for this class of nonlinear systems by employing adaptive technique with suitable choice of the design parameters. The systematic design procedure for the stabilizing controller is also addressed by utilizing the backstepping technique. The designed state-feedback controller guarantees that the states of the closed-loop systems globally asymptotically converge to zero and all other closed-loop signals are uniformly bounded. Finally, a simulation example is given to illustrate the effectiveness of the proposed control scheme.