非线性系统的自适应实用输出跟踪控制

研究了一类具有不可控不稳定线性化和线性化参数的非线性系统的全局自适应实用输 出跟踪控制问题,这类系统既不具有反馈线性化性质,对输入也没有仿射特性.因为这类系统的 线性化系统具有不可控模式且该模式在右半平面内有根,所以全局渐近输出跟踪是不可能的(甚 至是局部的).应用修正的自适应增加幂积分方法,设计了一种光滑状态反馈控制器,保证闭环系 统所有信号全局一致最终有界,且使跟踪误差进入零的小邻域内.仿真结果表明该控制器是可行 的并且是有效的.

Adaptive and Practical Output Tracking Control of Nonlinear Systems

This paper studies a globally adaptive and practical output-tracking control of linearly parameterized nonlinear systems with uncontrollable unstable linearization. These class systems are neither linearizable in the feedback nor affine in the control input. The asymptotic output tracking (even local) is usually not possible because the linearized system has uncontrollable modes whose eigenvalues are on the right half plane. Using the modified adaptively adding a power integrator technique as a basic tool, we construct a smooth adaptive state feedback controller that can ensure all signals of closed-loop systems are giobally, uniformly and ultimately bounded and steer the output tracking error to a small neighborhood of the origin. Simulation results show that the controller is feasible and effective.