非线性参数系统的鲁棒自适应输出反馈控制

采用自适应非线性阻尼和变能量函数的方法来抑制参数和非线性不确定性、未知有界扰动和未建模动态的影响，并用高增益观测器来估计系统的状态。 针对用输入输出模型描述的非线性参数系统提出的一种鲁棒自适应输出反馈控制法，不必对系统的未知参数进行估计，也不必通过产生附加动态信号来抑制未建模动态。 理论证明，所提方法保证闭环系统的所有信号一致有界，且通过选择适当的设计参数，可使跟踪误差任意的小。仿真结果例证了控制法的有效性。

Robust Adaptive Output Feedback Control of Nonlinearly Parameterized Systems

The ideas of adaptive nonlinear damping and changing supply functions were used to counteract the effects of parameter and nonlinear uncertainties, unmodeled dynamics and unknown bounded disturbances. The high-gain observer was used to estimate the state of the system. A robust adaptive output feedback control scheme was proposed for nonlinearly parameterized systems represented by input-output models. The scheme does not need to estimate the unknown parameters nor to add a dynamical signal to dominate the effects of unmodeled dynamics. It was proved that the proposed control scheme guarantees that all the variables in the closed-loop system are bounded and the mean-square tracking error can be made arbitrarily small by choosing some design parameters appropriately. Simulation results demonstrated the effectiveness of the proposed robust adaptive control scheme.