随机Marino-Tomei系统的输出反馈鲁棒自适应跟踪

研究了一类Marino-Tomei非线性模型在不确定噪声干扰下的输出反馈鲁棒自适应跟 踪问题.通过滤波变换,采用随机控制Lyapunov设计方法,对于受方差未知的Wiener噪声干 扰的Marino-Tomei非线性系统,给出了参数自适应律和控制律,使得闭环系统成为噪声--状 态稳定的,并且跟踪误差的4次均方值在时间平均意义下收敛到一个足够小的区域内.

Robust Adaptive Output-Feedback Tracking of Stochastic Marino-Tomei Systems

The robust adaptive output-feedback tracking problems for a class of Marino-Tomei model disturbed by uncertain noises are studied. A filtered transformation and a stochastic control Lyapunov design method are applied to Marino-Tomei systems driven by Wiener noises of unknown covariance. A parameter adaptive law and a control law are obtained to ensure that the closed-up systems are noise-to-state stable and the tracking error can converge to a small residual set around the origin in the sense of mean quartic value in average.