一类不确定非线性系统的反演自适应控制

提出了一类带有未知间隙滞后特性的不确定非线性单输入单输出系统的两种反演自适应控制器设计方案。在第一个方案中包含有一个信号函数,它能完全确定信号轨线。为了避免通过信号函数可能导致的振动,提出了可供选择的平滑控制律,它的跟踪误差仍然接近指定界。与其他控制方案不同的是发展的反演自适应控制不要求内部模型参数已知,也不要求干扰项有界。除了说明全局稳定性之外,在设计参数方面,也给出了L2性能的轨线误差一个确切的界。仿真结果说明了方案的有效性。

Backstepping Adaptive Control of a Class of Uncertain Nonlinear System

This paper presents two backstepping adaptive controller design schemes for a class of uncertain nonlinear single-input-single-output system with unknown interval backlash-like hysteresis.In the first scheme,a sign function is involved which can ensure perfect tracking.To avoid possible chattering caused by the sign function,an alternative smooth control law is proposed,so that the tracking error still approach a prescribed bound.Unlike some existing control schemes,the developed backstepping controls do not require the model parameters within known intervals and the knowledge on the bound of "disturbance-like" term.Besides illustrating global stability,an explicit bound on the L2 performance of the tracking error in terms of design parameters is given.Simulation results prove the effectiveness of the design schemes.