引用本文:魏春玲, 王强德, 武玉强.控制方向未知的高次非线性系统的鲁棒自适应控制[J].控制理论与应用,2007,24(4):519~524.[点击复制]
WEI Chun-ling, WANG Qiang-de, WU Yu-qiang.Robust adaptive control of high order nonlinear systems with unknown control directions[J].Control Theory and Technology,2007,24(4):519~524.[点击复制]
控制方向未知的高次非线性系统的鲁棒自适应控制
Robust adaptive control of high order nonlinear systems with unknown control directions
摘要点击 1462  全文点击 1494  投稿时间：2005-09-21  修订日期：2006-07-17
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DOI编号  10.7641/j.issn.1000-8152.2007.4.002
  2007,24(4):519-524
中文关键词  非线性系统  自适应  非线性参数
英文关键词  nonlinear systems  adaptive  nonlinear parameterization
基金项目  国家自然科学基金资助项目(60574007,60304003,60574080); 曲阜师范大学科研启动基金资助.
作者单位
魏春玲, 王强德, 武玉强 东南大学自动化研究所, 江苏南京210096
曲阜师范大学自动化研究所, 山东曲阜273165. 
中文摘要
      研究了一类具有不可控不稳定线性化的非线性系统的自适应控制问题. 该类系统的控制方向未知且含有不确定时变非线性参数. 应用Nussbaum-type 增益技术和adding a power integrator递推设计方法, 设计了一种鲁棒自适应状态反馈控制器. 所设计的控制器能够保证闭环系统的所有信号全局一致有界, 且系统的状态渐近趋于零. 除了假设未知参数及不确定性有界外, 所设计的控制策略不需要控制系数的任何先验知识. 仿真例子验证了算法的有效性.
英文摘要
      The problem of adaptive control for a class of nonlinear systems with uncontrollable and unstabilizable linearization is studied in this paper. The class of systems have unknown time-varying virtual control coefficients and uncertain time-varying nonlinear parameters. A robust adaptive state feedback controller is designed by employing the Nussbaum-type gain technique and adding a power integrator design approach. The controller guarantees all signals of the closed-loop system to be globally uniformly bounded. Especially, the state signals asymptotically converge to zero. The proposed design method does not require any a prior knowledge of the unknown control coefficients except for their bounds. The effectiveness of the proposed algorithm is verified by a simulation example.