| 引用本文: | 张天平,葛继伟,夏晓南.具有输入未建模动态的纯反馈非线性系统自适应控制[J].控制理论与应用,2017,34(12):1637~1647.[点击复制] |
| ZHANG Tian-ping,GE Ji-wei,XIA Xiao-nan.Adaptive control of pure-feedback nonlinear systems with input unmodeled dynamics[J].Control Theory and Technology,2017,34(12):1637~1647.[点击复制] |
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| 具有输入未建模动态的纯反馈非线性系统自适应控制 |
| Adaptive control of pure-feedback nonlinear systems with input unmodeled dynamics |
| 摘要点击 3545 全文点击 1757 投稿时间：2017-03-19 修订日期：2017-07-06 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2017.70171 |
| 2017,34(12):1637-1647 |
| 中文关键词 输入未建模动态 动态面控制 积分型Lyapunov函数 Nussbaum函数 |
| 英文关键词 input unmodeled dynamics dynamic surface control integral Lyapunov function Nussbaum function |
| 基金项目 国家自然科学基金项目(61573307, 61473250), 扬州大学高端人才支持计划项目(2016) |
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| 中文摘要 |
| 对一类具有状态和输入未建模动态且控制增益符号未知的纯反馈非线性系统, 利用非线性变换、改进的动态面
控制方法以及Nussbaum函数性质, 提出两种自适应动态面控制方案. 利用正则化信号来约束输入未建模动态, 从而有效
地抑制其产生的扰动. 通过引入动态信号, 有效地处理了由状态未建模动态引起的动态不确定性. 通过在总的李雅普诺
夫函数中引入非负正则化信号, 并利用稳定性分析中引入的紧集, 证明了闭环控制系统是半全局一致终结有界的. 数值
仿真验证了所提方案的有效性. |
| 英文摘要 |
| Based on dynamic surface control (DSC) method and using Nussbaum function property, two adaptive DSC
schemes are developed for a class of pure-feedback nonlinear systems with state and input unmodeled dynamics as well
as unknown control gain sign in this paper. Normalization signal is designed to restrict the input unmodeled dynamics,
and the disturbance produced by it is effectively suppressed. Dynamic signal is introduced to deal with the dynamic
uncertainty caused by unmodeled dynamics. By adding the normalization signal to the whole Lyapunov function and
using the defined compact set in stability analysis, all the signals in the closed-loop system are proved to be semi-globally
uniformly ultimately bounded (SGUUB). Numerical simulation verifies the effectiveness of the proposed approach. |