| 非线性不确定系统鲁棒自适应动态面控制 |
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| 引用本文： | 朱永红,姜长生,费树岷.非线性不确定系统鲁棒自适应动态面控制[J].东南大学学报,2003,19(2). |
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| 作者姓名： | 朱永红 姜长生 费树岷 |
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| 作者单位： | 南京航空航天大学自动化学院 南京210016
(朱永红,姜长生),东南大学自动化研究所 南京210096(费树岷) |
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| 基金项目： | TheNationalNaturalScienceFoundationofChina (6 0 1740 45 ) |
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| 摘 要： | 本文针对具有未知参数不确定和干扰的严格反馈型的非线性系统鲁棒自适应控制提出了一种新的设计方法 ,即动态面控制 .传统的递推算法要求对建模的非线性反复多次微分 .本文方法由于加入了n个低通滤波器使得算法不用对模型非线性进行多次微分 ,因而避免了因“微分项的爆炸”引起的算法复杂性从而简化了算法 .理论分析证明了所设计的鲁棒自适应动态面控制器保证了闭环系统的半全局渐近稳定并且使得输出跟踪期望轨迹 .仿真结果表明了所设计的控制器的有效性和可行性 .
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| 关 键 词： | 非线性系统 鲁棒控制 自适应控制 动态面控制 不确定 |
Robust adaptive dynamic surface control for nonlinear uncertain systems |
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| Zhu Yonghong,JIANG Changsheng,Fei Shumin.Robust adaptive dynamic surface control for nonlinear uncertain systems[J].Journal of Southeast University(English Edition),2003,19(2). |
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| Authors: | Zhu Yonghong JIANG Changsheng Fei Shumin |
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| Abstract: | We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the "explosion of terms" that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method. |
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| Keywords: | nonlinear systems robust control adaptive control dynamic surface control uncertainties |
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