| 一类非线性不确定系统的自适应鲁棒控制 |
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| 引用本文： | 郭健,陈庆伟,吴益飞,姚斌. 一类非线性不确定系统的自适应鲁棒控制[J]. 控制理论与应用, 2010, 27(8): 1081-1085 |
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| 作者姓名： | 郭健 陈庆伟 吴益飞 姚斌 |
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| 作者单位： | 1. 南京理工大学,自动化学院,江苏,南京,210094
2. 普度大学,机械工程学院,西拉法叶,IN 47907,美国 |
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| 基金项目： | 教育部博士点基金资助项目(20070288022); 江苏省自然科学基金资助项目(BK2008404); 江苏省科技支撑计划资助项目(BE2009160); 空间智能控制技术国家级重点实验室资助项目. |
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| 摘 要： | 将一类结构和参数均未知且存在外界干扰的非线性系统,等价为具有线性结构的时变系统,在此基础上设计了自适应鲁棒控制器,包括自适应模型补偿、反馈稳定控制和鲁棒反馈控制3部分,实现闭环控制系统信号有界且跟踪误差在期望的精度范围内.理论分析和仿真结果均验证了算法的有效性.
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| 关 键 词： | 非线性系统 线性化 自适应控制 鲁棒控制 |
| 收稿时间： | 2009-04-28 |
| 修稿时间： | 2009-10-18 |
Adaptive robust control for a class of uncertain nonlinear system |
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| GUO Jian,CHEN Qing-wei,WU Yi-fei and YAO Bin. Adaptive robust control for a class of uncertain nonlinear system[J]. Control Theory & Applications, 2010, 27(8): 1081-1085 |
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| Authors: | GUO Jian CHEN Qing-wei WU Yi-fei YAO Bin |
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| Affiliation: | School of Automation, Nanjing University of Science and Technology,School of Automation, Nanjing University of Science and Technology,School of Automation, Nanjing University of Science and Technology,School of Mechanical Engineering, Purdue University |
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| Abstract: | A kind of nonlinear system with unknown structure and parameters in the presence of external disturbances is considered. We treat this type of nonlinear system as a time-varying system with a linear structure, and propose for it an adaptive robust control law which consists of the adaptive model compensation, the stabilization feedback and the robust feedback. It ensures that all signals in the closed-loop system to be bounded and the tracking errors being within a desired range. Theoretical analysis and simulation results validate the proposed controllers. |
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| Keywords: | nonlinear system linearation adaptive control robust control |
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