降阶的鲁棒分散自适应反推控制

解学军; 白延宁; 刘海宽

引用本文:	解学军, 白延宁, 刘海宽.降阶的鲁棒分散自适应反推控制[J].控制理论与应用,2007,24(3):396~400.[点击复制]
	XIE Xue-jun, BAI Yan-ning, LIU Hai-kuan.Reduced-order robust decentralized adaptive backstepping control[J].Control Theory and Technology,2007,24(3):396~400.[点击复制]

降阶的鲁棒分散自适应反推控制

Reduced-order robust decentralized adaptive backstepping control

摘要点击 1661 全文点击 1147 投稿时间：2005-10-30 修订日期：2006-02-23

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DOI编号 10.7641/j.issn.1000-8152.2007.3.013

2007,24(3):396-400

中文关键词关联系统鲁棒降阶反推自适应控制

英文关键词 interconnected systems robust reduced-order backstepping adaptive control

基金项目国家自然科学基金资助项目(60304003); 教育部新世纪优秀人才支持计划资助项目(NCET-05-0607).

作者	单位
解学军, 白延宁, 刘海宽	徐州师范大学电气工程及自动化学院, 江苏徐州221116 曲阜师范大学自动化研究所, 山东曲阜273165

中文摘要

针对一类含有未建模动态的关联系统, 考虑了降阶的鲁棒分散自适应反推控制问题. 首先通过一系列坐标变换, 将原系统重新参数化, 然后引入降阶观测器, 得到一个误差系统. 基于该系统, 给出了一种降阶自适应反推控制器的设计方案. 证明了自适应控制系统的所有信号全局一致有界, 调节误差渐近收敛到零. 控制器阶次的降低使得本文的设计方案更具应用价值.

英文摘要

For a class of interconnected systems with unmodeled dynamics, the problem of reduced-order robust decentralized adaptive backstepping control is considered in this paper. Firstly, by a series of coordinate transformations, the original system is reparameterized. Then, by introducing a reduced-order observer, an error system is obtained. Based on the system, a design scheme of reduced-order adaptive backstepping controller is given. It is also proved that all the signals in the adaptive control system are globally uniformly bounded, and the regulation error converges to zero asymptotically.Due to the order reduction of the controller, the design scheme in this paper has more practical values.