摘要
针对一类不确定非线性系统 ,首次提出了一种状态参考自适应与 L2 -增益混合控制器。该控制器大大拓宽了递推 (backstepping)自适应控制方法的适用范围 ,且对非匹配的未知参数和有界干扰具有强鲁棒性。理论分析和仿真结果说明了该控制器的可行性和有效性。
Past state-reference-adaptive controllers for nonlinear system with uncertainties, in our opinion, can still be further improved to be applicable to a wide group of nonlinear systems with uncertainties and to be more robust. We developed a hybrid state-reference-adaptive controller that incorporates L_2 -gain. In order to ensure the stability of our new hybrid controller, L_2 -gain should be equal to or less than γ . In the development of our new controller, we enlarged the extent of applicability of the adaptive backstepping approach used in Ref.2. By requiring L_2 -gain to be equal to or less than γ, we made our new controller robust against bounded disturbance and the disturbance caused by mismatched parameters. Simulation results, shown in Figs.1 and 2, show preliminarily that our new hybrid controller is feasible and effective.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2001年第4期571-574,共4页
Journal of Northwestern Polytechnical University
基金
中船总国防科技重点项目 (4 4.3.4.2 2 )
