引用本文:王银河,张嗣瀛.基于单位分解的一类非线性不确定系统跟踪控制设计[J].控制理论与应用,2006,23(5):699~702.[点击复制]
WANG Yin-he, ZHANG Si-ying .Tracking control synthesis for a class of uncertain nonlinear systems based on partition of unity[J].Control Theory and Technology,2006,23(5):699~702.[点击复制]
基于单位分解的一类非线性不确定系统跟踪控制设计
Tracking control synthesis for a class of uncertain nonlinear systems based on partition of unity
摘要点击 1402  全文点击 769  投稿时间：2005-05-26  修订日期：2005-10-31
查看全文  查看/发表评论  下载PDF阅读器
DOI编号  10.7641/j.issn.1000-8152.2006.5.006
  2006,23(5):699-702
中文关键词  单位分解  逼近定理  自适应跟踪控制
英文关键词  partition of unity  approximation theorem  adaptive tracking control
基金项目  广东省自然科学基金资助项目(032035)．
作者单位
王银河,张嗣瀛 广东工业大学自动化学院,广东广州510090
东北大学自动化系,辽宁沈阳110006 
中文摘要
      利用单位分解在紧致域上能够以任意给定精度逼近连续函数的性质,针对一类不确定非线性系统设计了带有自适应律的鲁棒自适应跟踪控制器．结果表明这种控制器可以使输出跟踪误差渐近收敛到零点的一个小邻域内,并保证闭环系统的所有状态一致有界．最后的仿真实例说明了该方法的有效性．
英文摘要
      By utilizing the property that partition of unity can approximate any continuous function on the compact set at arbitrary precision, the robust tracking controllers with adaptive laws are designed for a class of uncertain nonlinear systems. The results show that the tracking errors converge to a small neighborhood of zero and all states in the closed-loop system are bounded via the controllers. Finally, the simulations show the validity of the method adopted in this paper.