一类带有未知间隙滞后特性的反演自适应控制

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一种反演自适应控制器设计方案。在有界外部干扰的情况下,通过不同的方程式建立了滞后模型。在设计方案中,我们提出了一种可供选择的平滑控制律,它的跟踪误差仍然接近指定界。与别的控制方案不相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,也给出了性能的轨线误差一个确切的界。最后的仿真结果说明了我们方案的有效性。

Adaptive Back- stepping Control of Unknown Backlash- like Hysteresis Nonlinear Systems

This paper presents a back-stepping adaptive controller design schemes for a class of uncertain nonlinear single-input-single-output system preceded by unknown backlash-like hysteresis nonlinearities,where the hysteresis is modeled by a differential equation,in the presence of bounded external disturbances.In the scheme,we propose an alternative smooth control law and the tracking error is still ensured to approach a prescribed bound in this case.Unlike some existing control schemes,the developed back-stepping controls do not require the model parameters within known intervals and the knowledge on the bound of "disturbance-like" term is not required.Besides showing global stability, this paper also gives an explicit bound on the L2 performance of the tracking error in terms of design parameters.The simulation result illustrates the effectiveness of our schemes.