| 一类不确定非线性系统的鲁棒自适应控制 |
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| 引用本文： | 吴玉香,周东霞,胡跃明.一类不确定非线性系统的鲁棒自适应控制[J].控制理论与应用,2008,25(6):1053-1058. |
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| 作者姓名： | 吴玉香 周东霞 胡跃明 |
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| 作者单位： | 华南理工大学,自动化科学与工程学院,广东,广州,510640 |
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| 摘 要： | 针对一类MIMO不确定非线性系统的输出跟踪问题, 基于自适应反步法和滑模控制为其设计了鲁棒自适应控制器. 模型包含3种不确定性: 1) 参数不确定性; 2) 输入增益的不确定性; 3) 代表系统未建模动态和干扰的不确定函数, 该函数有界. 以非完整移动机械臂的输出跟踪控制为目标, 对其进行仿真实验, 实验结果表明所提出的控制算法是正确有效的.
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| 关 键 词： | 自适应反步 鲁棒控制 滑模控制 不确定非线性系统 |
| 收稿时间： | 2006/1/12 0:00:00 |
| 修稿时间： | 2007/6/23 0:00:00 |
Robust adaptive control of a class of uncertain nonlinear systems |
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| WU Yu-xiang,ZHOU Dong-xia and HU Yue-ming.Robust adaptive control of a class of uncertain nonlinear systems[J].Control Theory & Applications,2008,25(6):1053-1058. |
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| Authors: | WU Yu-xiang ZHOU Dong-xia and HU Yue-ming |
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| Affiliation: | College of Automation Science and Technology, South China University of Technology, Guangzhou Guangdong 510640, China;College of Automation Science and Technology, South China University of Technology, Guangzhou Guangdong 510640, China;College of Automation Science and Technology, South China University of Technology, Guangzhou Guangdong 510640, China |
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| Abstract: | Combining the adaptive Backstepping with the sliding mode control, we present a robust adaptive controller for a class of MIMO uncertain nonlinear systems. The model contains three forms of model uncertainty: 1) parametric uncertainty; 2) uncertainty in the input gains; 3) bounded uncertain functions which represent unmodelled dynamics and disturbances. The results of numerical simulation for the output tracking control of nonholonomic mobile manipulators are presented to demonstrate the effectiveness of the proposed approach. |
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| Keywords: | adaptive Backstepping robust control sliding mode control uncertain nonlinear systems |
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