有未知控制系数和零动态的高阶非线性系统的自适应控制设计

主要研究一类控制系数未知和有不可测零动态的高阶非线性系统的全局自适应镇定问题. 进一步放宽了对零动态的约束条件, 通过定义一个恰当的未知参数, 把连续自适应状态反馈控制器的动态阶数降到最低(仅一维). 通过结合增加幂次积分方法, 相关的自适应技术以及交换能量函数思想, 给出控制器的设计步骤. 所设计的控制器确保闭环系统的所有状态是全局一致有界的, 且原系统的状态收敛到零.

Adaptive Control Design of High-order Nonlinear Systems with Unknown Control Coefficients and Zero Dynamics

This paper focuses on the adaptive stabilization problem for a class of high-order nonlinear systems with uncertain control coefficients and unmeasurable zero dynamics. Restriction on zero dynamics is further relaxed, and the dynamic order of a continuous adaptive state-feedback controller reduces to the minimum (only one dimension) through delicately defining an appropriate unknown parameter. The design procedures of the controller are provided by flexibly incorporating the method of adding a power integrator with the related adaptive technique and the idea of changing supply functions. The designed controller guarantees that all the closed-loop system states are globally uniformly bounded, and that the original state converges to zero.