基于LS-SVM的一类非线性系统直接自适应H∞输出反馈控制

针对一类状态不可测的单输入单输出非线性不确定系统，提出了一种基于最小二乘支持向量机（LS-SVM）的直接自适应H∞输出反馈控制方法．该方法首先设计一种误差观测器，间接地估计出系统的状态；然后利用LS-SVM构造白适应控制器，并给出了LS-SVM权向量和偏移值的在线学习规则，通过引入如控制器减弱外部干扰及LS-SVM近似误差对输出误差的影响，利用李亚普诺夫理论证明了整个闭环系统的稳定性．仿真研究表明了该控制方案的可行性和有效性．

Direct adaptive H∞ output feedback control for a class of nonlinear systems based on LS-SVM

This paper presents a design scheme of least squares support vector machines (LS-SVM) based direct adaptive
??∞ output feedback control for a class of nonlinear uncertain systems whose state variables are not available. Firstly, a
class of error observer is designed to estimate the system states indirectly. Then the adaptive outout feedback controller is
constructed by using LS-SVM, and an on-line learning rule for the weigh vector and bias is derived. ??H∞ control is used to
attentuate the effect on the tracking error caused by LS-SVM approximation errors and external disturbance. Lyapunov theory
is used to prove the stability of the close-loop system. Finally, numerical simulations show the feasibility and effectiveness
of the proposed method.