高阶非线性不确定系统的自适应实际输出跟踪控制

本文研究了一类高阶非线性不确定系统的自适应实际输出跟踪控制问题, 该问题在未知控制系数的下界精确知道的假设下已经得到了研究. 基于新的鲁棒自适应控制和连续控制思想, 成功去除该假设条件. 进而应用增加幂次积分的方法, 给出了构造连续自适应实际输出跟踪控制器的系统化方法. 该控制器确保闭环系统的所有状态全局稳定, 并且经过有限时间后, 跟踪误差可以被某一事先给定的任意正数界定. 最后, 通过一个仿真算例验证了理论结果的正确性.

Adaptive Practical Output Tracking Control for High-order Nonlinear Uncertain Systems

The problem of adaptive practical output tracking control is studied for a class of high-order nonlinear uncertain systems,which has been investigated under the assumption that the lower bounds of the unknown control coefficients are exactly known.Based on the idea of the new robust adaptive control and the continuous stabilization,this assumption is successfully removed.By means of adding a power integrator,a system- atic approach is developed to construct a continuous adaptive practical output tracking controller,which guarantees that all the states of the closed-loop system are globally stable,while the tracking error can be bounded by any given positive num- ber after a finite time.Finally,a simulation example is given to illustrate the correctness of the theoretical results.