一种新的间接自适应极点配置算法

针对离散时不变最小相位系统，提出了一种新的间接自适应极点配置算法。该算法的主要优点是可以实现对任意有界参考输出的渐近跟踪，而其他自适应极点配置则不具有这种性质，仿真例子说明所提新算法的良好跟踪性能。     

MIMO非线性最小相位系统的光滑调节

本文研究多输入多输出非线性最小相位系统的光滑调节问题,得到的主要结论是:对合的在原点具有相对阶的局部双曲最小相位系统能渐近跟踪满足某种有界条件的局部Lyapunov稳定的信号.一类具有一致相对阶的全局指数稳定的最小相位系统,若满足某种类似的Lipschitz条件,则能渐近跟踪一类很广泛的信号,既可以是Poisson稳定的,也可以是无界的.     

一类非最小相位多变量系统的自适应控制设计

利用一种有界输入计算方法,根据对象的左互质分解（ＬＣＦ） 特性,对一类多变量离散时间模型跟踪控制系统（ ＭＦＣＳ） 进行设计,进而给出相应的非最小相位系统自适应控制器的设计方法。     

垂直/短距起降飞机的轨迹跟踪控制器设计

针对垂直/短距起降飞行器在悬停状态下滚转力矩与横侧向推力存在强耦合、系统具有非最小相位特性的问题,本文设计了轨迹跟踪控制器.首先利用坐标变换和输入输出线性化将系统分解成最小相位子系统和非最小相位子系统.对非最小相位子系统,采用稳态系统中心的方法求解理想内部动态,并跟踪系统理想内模设计了LQR控制器,使得内部动态有界;对最小相位子系统设计了高增益控制器使得外部动态渐进稳定.仿真结果表明本文设计的控制器对给定轨迹和飞行器机动轨迹都有较好的跟踪效果,验证了控制器的有效性.     

滞后系统跟踪参考序列的鲁棒MRACS研究

对离散滞后被控对象 ,设计了一种跟踪参考序列的鲁棒模型参考自适应控制系统 (MRACS)。不需线性补偿器 ,既简化了设计 ,又减少了计算量 ,更适合快速跟踪。对可测扰动具有很强的鲁棒性 ,也适合非最小相位系统     

通用神经网络非线性系统模型参考自适应控制*

针对任意复杂的具有最小相位,滞后环节和非最小相位特性的离散非线性系统,提出一种通用的直接神经网络模型参考自适应控制。采用具有在线学习功能的最近邻聚类算法训练RBF神经网络控制器,同时引入优化策略对聚类半径进行自动调整,并利用构造伪系统的方法构成一种对非最小相位同样有效的神经网络模型参考自适应控制器。仿真研究证明,该控制策略不仅能使多种非线性对象跟踪多种参考信号,而且抗干扰能力和鲁棒性也很好。     

滞后系统跟踪参考序列的鲁棒MRACS研究

对离散滞后被控对象,设计了一种跟踪参考序列的鲁棒模型参考自适应控制系统（MRACS）。不需线性补偿器,即简化了设计,又减少了计算量,更适合快速跟踪。对可测扰动具有很强的鲁棒性,也适合非最小相位系统。     

非最小相位系统跟踪控制综述

非最小相位系统是指包含不稳定零动态的系统.经典的跟踪控制理论,特别是非线性系统跟踪控制理论,是以最小相位系统为基础建立的,不能直接用于非最小相位系统.研究非最小相位系统跟踪控制理论,是对经典控制理论的扩展和补充,具有重要的意义.本文对目前非最小相位系统跟踪控制领域取得的成果进行综述.首先梳理各种非最小相位系统跟踪控制方法的基本思想,并按照近似跟踪和精确跟踪进行归类,建立非最小相位系统跟踪控制的基本框架.然后围绕该框架对各种方法进行详细介绍.接着讨论非最小相位系统的跟踪性能限制.最后总结现有研究存在的一些问题及对今后的发展方向进行展望.本文的目的在于使控制工作者对非最小相位系统的跟踪控制有一个较为清晰的认识.     

输出重定义下的非线性非最小相位系统迭代学习控制

讨论非线性非最小相位系统实现完全跟踪的迭代学习控制方法, 适于在有限作业区间上重复运行的受控系统. 在控制器设计时, 通过输出重定义以使非最小相位系统的零动态变成渐近稳定特性. 分别采用部分限幅和完全限幅两种学习算法设计控制器, 理论分析表明两种算法能够保证学习系统中所有变量的有界性和跟踪误差在整个作业区间上渐近收敛于零. 数值仿真验证了两种迭代学习控制系统的跟踪性能.     

离散时间非线性最小相位系统的动态输出反馈镇定

研究了离散时间非线性最小相位系统的动态输出反馈镇定.首先对离散时间非线性系统引入了逼近渐近稳定性的概念.基于此概念,提出了一种动态补偿器设计的新方法.主要结果是,如果一非线性系统的零动态是逼近渐近稳定的,则能用动态输出反馈镇定.动态补偿器的设计是构造性的.     

Asymptotic tracking and disturbance rejection of time-varying signals with a discontinuous PID controller

A novel non linear PID controller is introduced in this paper, which has a discontinuous integral term. It is able to robustly asymptotically track any time-varying reference while rejecting perturbations with bounded derivatives for uncertain SISO nonlinear plants of well-defined relative degree two and with bounded zero dynamics. This is achieved because the discontinuous integral term takes the role of a universal internal model for this class of references and perturbations. The proposed controller is compared with a well established solution for this problem in the literature to illustrate its advantages. The main benefit is possibly the simplicity of the controller structure and its universality, since it applies to a large class of plants, references and perturbations without modifications.     

陈氏混沌系统的稳定追踪控制

利用非线性反馈控制实现陈氏混沌系统在有界条件下对任意信号的追踪．根据系统结构特点选取合适的反馈方式．设计非线性控制律．并由Lyapunov直接方法证明误差信号渐近稳定于零且所有变量满足有界条件．数值研究结果表明．受控系统可对任意形式光滑参考信号（包括其他混沌系统的输出信号）进行追踪．该方法是一种物理可实现的稳定追踪控制方法．也可用于不同混沌系统之间的异结构同步．     

含时变不确定线性系统的自适应鲁棒跟踪控制

针对系统的不确定性和扰动满足匹配条件,不确定性界和扰动界未知的情形,讨论含时变不确定性线性系统的鲁棒跟踪问题。自适应控制器的设计不涉及确定性界和扰动界,运用变结构方法,可使带扰系统实现渐近跟踪。该方法适合一类较广泛的不确定系统,鲁棒性较强。仿真例子表明了该方法的有效性。     

Adaptive tracking with saturating input and controller integralaction

The authors consider the problem of controlling stable linear plants subject to input saturation constraints and parametric uncertainties. A globally stable adaptive controller which performs well in the presence of such constraints is designed, using a specific pole placement that accounts for the saturation constraint, an integral action to deal with the tracking problem, and an adaptive control law with an ad hoc excitation capability together with a parameter adaptation to cope with the parametric uncertainty. The proposed controller allows one to track slowly varying reference sequences. Particularly, in the case of a constant reference, the output tracking error vanishes asymptotically and the control input does stop saturating after a finite time     

Adaptive controller for continuous systems with single internal and external delays

A globally stable adaptive controller is proposed for linear continuous systems subject to known single point internal and external delays for a controlled plant assumed to be linear and inversely stable. It is proved that closed-loop (delay-independent) finite-spectrum can be achieved in the case of known plant parameters while, in the adaptive case, the plant output asymptotically matches that of any zero free-stable reference model with all the signals within the loop remaining bounded.     

A robust adaptive sliding-mode control for rigid robotic manipulators with arbitrary bounded input disturbances

In this paper, a robust adaptive sliding-mode control scheme for rigid robotic manipulators with arbitrary bounded input disturbances is proposed. It is shown that the prior knowledge on the upper bound of the norm of the input disturbance vector is not required in the sliding-mode controller design. An adaptive mechanism is introduced to estimate the upper bound of the norm of the input disturbance vector. The estimate is then used as a controller gain parameter to guarantee that the output tracking error asymptotically converges to zero and strong robustness with respect to bounded input disturbances can be obtained. A simulation example is given in support of the proposed control scheme.     

Bounded controllers for global path tracking control of unicycle-type mobile robots

This paper presents a design of bounded controllers with a predetermined bound for global path tracking control of unicycle-type mobile robots at the torque level. A new one-step ahead backstepping method is first introduced. The heading angle and linear velocity of the robots are then considered as immediate controls to force the position of the robots to globally and asymptotically track its reference path. These immediate controls are designed based on the one-step ahead backstepping method to yield bounded control laws. Next, the one-step ahead backstepping method is applied again to design bounded control torques of the robots with a pre-specified bound. The proposed control design ensures global asymptotical and local exponential convergence of the position and orientation tracking errors to zero, and bounded torques driving the robots. Experimental results on a Khepera mobile robot verify the proposed control controller.     

Adaptive control of linear time-varying plants: a new modelreference controller structure

The problem of developing a control law which can force the output of a linear time-varying plant to track the output of a stable linear time-invariant reference model is discussed. It is shown that the standard model reference controller, used for linear time-invariant plants, cannot guarantee zero tracking error in general when the plant is time-varying. A new model reference controller is proposed which guarantees stability and zero tracking error for a general class of linear time-varying plants with known parameters. When the time-varying plant parameters are unknown but vary slowly with time, it is shown that the new controller can be combined with a suitable adaptive law so that all the signals in the closed loop remain bounded for any bounded initial conditions and the tracking error is small in the mean. The assumption of slow parameter variations in the adaptive case can be relaxed if some information about the frequency or the form of the fast varying parameters is available a priori. Such information can be incorporated in an appropriately designed adaptive law so that stability and improved tracking performance is guaranteed for a class of plants with fast varying parameters     

一类线性不确定组合系统的输出反馈分散输出跟踪控制

讨论了线性不确定组合系统的鲁棒分散输出渐近跟踪问题.基于Lyapunov方程正定解的存在性,给出了输出反馈跟踪控制器的设计方法.对于系统中所有允许的不确定性,所设计的控制器均使系统的输出渐近跟踪所给定的参考信号,同时系统的状态保持有界.     

一类基于模糊逻辑系统的非线性系统自适应跟踪控制

利用非线性不确定系统的动态数学模型和模糊逻辑系统，对不确定性的输出信息，设计出被控系统的自适应鲁棒跟踪控制器和模糊逻辑系统参数估计的自适应律．在较弱的假设条件下，证明了这种控制器能使被控系统的状态及参数估计误差一致终极有界．仿真实例表明，所提出的方法是有效的．