| 引用本文: | 吴玉香,周东霞,胡跃明.一类不确定非线性系统的鲁棒自适应控制[J].控制理论与应用,2008,25(6):1053~1058.[点击复制] |
| WU Yu-xiang,ZHOU Dong-xia,HU Yue-ming.Robust adaptive control of a class of uncertain nonlinear systems[J].Control Theory and Technology,2008,25(6):1053~1058.[点击复制] |
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| 一类不确定非线性系统的鲁棒自适应控制 |
| Robust adaptive control of a class of uncertain nonlinear systems |
| 摘要点击 1577 全文点击 1097 投稿时间：2006-01-12 修订日期：2007-06-23 |
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| DOI编号 10.7641/j.issn.1000-8152.2008.6.015 |
| 2008,25(6):1053-1058 |
| 中文关键词 自适应反步 鲁棒控制 滑模控制 不确定非线性系统 |
| 英文关键词 adaptive Backstepping robust control sliding mode control uncertain nonlinear systems |
| 基金项目 |
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| 中文摘要 |
| 针对一类MIMO不确定非线性系统的输出跟踪问题, 基于自适应反步法和滑模控制为其设计了鲁棒自适应控制器. 模型包含3种不确定性: 1) 参数不确定性; 2) 输入增益的不确定性; 3) 代表系统未建模动态和干扰的不确定函数, 该函数有界. 以非完整移动机械臂的输出跟踪控制为目标, 对其进行仿真实验, 实验结果表明所提出的控制算法是正确有效的. |
| 英文摘要 |
| Combining the adaptive Backstepping with the sliding mode control, we present a robust adaptive controller for a class of MIMO uncertain nonlinear systems. The model contains three forms of model uncertainty: 1) parametric uncertainty; 2) uncertainty in the input gains; 3) bounded uncertain functions which represent unmodelled dynamics and disturbances. The results of numerical simulation for the output tracking control of nonholonomic mobile manipulators are presented to demonstrate the effectiveness of the proposed approach. |