| 一类MIMO非线性时滞系统的鲁棒自适应控制 |
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| 引用本文： | 王 芹,张天平.一类MIMO非线性时滞系统的鲁棒自适应控制[J].控制理论与应用,2009,26(10):1167-1171. |
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| 作者姓名： | 王 芹 张天平 |
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| 作者单位： | 扬州大学,信息工程学院,自动化专业部,江苏,扬州,225009 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对一类具有非线性输入的MIMO时变时滞系统,基于变结构控制原理,提出了一种稳定自适应控制器设计的新方案.该方案通过使用Lyapunov-Krasovskii(L-K)泛函抵消了因未知时变时滞带来的系统不确定性;进一步,利用Young's不等式和参数自适应估计取消了非线性死区输入模犁和不确定项假设中各种参数均为已知的要求.通过理论分析,证明了闭环控制系统半全局一致终结有界,跟踪误差收敛到零的一个邻域内.
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| 关 键 词： | 自适应控制 时滞 一致终结有界 |
| 收稿时间： | 7/4/2007 12:00:00 AM |
| 修稿时间： | 7/5/2009 12:00:00 AM |
Robust adaptive control for a class of MIMO nonlinear systems with time-varying delay |
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| WANG Qin and ZHANG Tian-ping.Robust adaptive control for a class of MIMO nonlinear systems with time-varying delay[J].Control Theory & Applications,2009,26(10):1167-1171. |
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| Authors: | WANG Qin and ZHANG Tian-ping |
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| Affiliation: | Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou Jiangsu 225009, China;Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou Jiangsu 225009, China |
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| Abstract: | A new variable structure adaptive control scheme is proposed for a class of uncertain multi-input and multioutput(MIMO) nonlinear systems with nonlinear input and time-varying delays. The unknown time-varying delay is compensated by using Lyapunov-Krasovskii(L-K) functionals in the design. Furthermore, using the Young inequality and the parameter adaptive stimation, the parameters in the nonlinear dead-zone models and the lumped uncertainty are not ecessary
to be known. By theoretical analysis, the closed-loop control system is proved to be semi-global uniformly ultimately bounded(UUB), and the output tracking error converges to a neighborhood of zero. |
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| Keywords: | adaptive control time-varying delay semi-global uniformly ultimately bounded |
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