带非三角结构的非线性系统自适应控制设计

针对一类带有非三角结构的不确定非线性系统,研究了其控制设计问题,提出了一种自适应跟踪控制设计方法。通过构造一种新的李雅普诺夫函数,并运用增加幂次积分方法和模糊控制方法,设计得到了一种新型自适应跟踪控制器。控制器只引入了一个参数自适应律,避免了反推设计中的过参数化问题,同时保证了输出跟踪误差可以任意小,且使得闭环系统的所有信号有界。最后,将控制方法应用到单连杆机械臂系统上,通过仿真研究验证了所提控制方案的有效性。

Adaptive Control for Nonlinear Systems with Non-Triangular Structure

This paper investigates the control design problem for a class of uncertain nonlinear systems with non-triangular structure and proposes an adaptive tracking control method.By constructing a new Lyapunov function and by using the techniques of adding a power integrator and fuzzy control,an adaptive tracking controller with only one adaptive parameter law was designed to avoid the over parameterization existing in backstepping design.The output tracking error was guaranteed to be arbitrarily small while all signals of the closed-loop systems were bounded.At last,the control method was applied to single-link robot system and a simulation was provided to verify its effectiveness.