引用本文:李小华,刘辉,刘晓平.一类函数完全未知的随机非线性系统自适应H∞跟踪控制[J].控制理论与应用,2019,36(9):1431~1441.[点击复制]
LI Xiao-hua,LIU Hui,LIU Xiao-ping.Adaptive H-infinity tracking control for a class of stochastic nonlinear systems with completely unknown functions[J].Control Theory and Technology,2019,36(9):1431~1441.[点击复制]
一类函数完全未知的随机非线性系统自适应H∞跟踪控制
Adaptive H-infinity tracking control for a class of stochastic nonlinear systems with completely unknown functions
摘要点击 2296  全文点击 925  投稿时间：2018-06-21  修订日期：2019-03-21
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DOI编号  10.7641/CTA.2018.80461
  2019,36(9):1431-1441
中文关键词  随机系统  非线性系统  backstepping技术  H∞干扰抑制  鲁棒跟踪控制  自适应控制
英文关键词  stochastic systems  nonlinear systems  backstepping technique  H∞ disturbance attenuation  robust tracking control  adaptive control
基金项目  国家自然科学基金, 高校基金,省自然科学基金
作者单位E-mail
李小华* 辽宁科技大学电信学院 lixiaohua6412@163.com 
刘辉 辽宁科技大学电信学院  
刘晓平 加拿大湖首大学电子工程系  
中文摘要
      针对一类函数完全未知的严格反馈随机非线性系统, 提出了一种基于backstepping技术的鲁棒 H∞自适应神经跟踪控制器设计的新方法. 该方法可在随机非线性系统是依概率一致最终有界的情况下, 保证随机非线性系统 H∞性能指标, 且 H∞踪踪控制器容易获得. 同时该方法去除了一些文献中神经网络逼近误差需要平方可积的假设. 文中使用RBF神经网络逼近打包的未知非线性函数. 所设计的控制器能够保证闭环系统跟踪误差及其它所有信号都是依概率有界的, 且对外界干扰具有鲁棒 H∞抑制作用. 最后, 仿真结果验证了所提方法的有效性和正确性.
英文摘要
      In this paper, a novel approach based on backstepping technique is proposed to design an adaptive robust H∞ tracking controller for a class of strict feedback stochastic nonlinear systems, in which all the functions are unknown. This method can guarantee that the controlled system has an H∞ performance index under the condition that the stochastic nonlinear system is uniformly ultimately bounded in probability and the H∞ tracking controller can be obtained easily. At the same time, based on the control scheme, the assumption that approximation errors must be square-integral in some literature has been eliminated. RBF neural networks are used to approximate the packaged unknown nonlinear functions. The designed controller can guarantee that the tracking error and other all the signals in the closed-loop system are bounded in probability, and the controlled system has an H∞ disturbance attenuation performance for external perturbations. Finally, the simulation results are given to demonstrate the feasibility and validity of the proposed method.