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针对一类含有未建模动态和未知控制增益符号的非线性系统,提出了一种输出反馈自适应跟踪控制方案。首先利用Kreisselmeier观测器实现了不可测状态的估计,在此基础上以回归设计方式设计了输出反馈动态面控制系统,通过引入Nussbaum函数解决了控制方向未知问题。该方案解克服了传统反推控制方法中的微分爆炸现象,并且所有未知参数的更新律仅在控制设计的第一步出现,因而降低了控制器设计和实现的复杂性。理论证明,控制方案不仅可以保证闭环系统所有信号半全局一致最终有界,而且通过调整控制器设计参数,跟踪误差可以调节到零的小邻域内。仿真结果进一步验证了控制方案的有效性。
For a class of nonlinear systems with unmodeled dynamics and unknown control gains, an output feedback adaptive tracking control scheme is proposed. First, the estimation of unmeasured state is realized by Kreisselmeier observer. Based on this, the output feedback dynamic surface control system is designed by regression design, and the control direction unknown problem is solved by introducing Nussbaum function. The solution overcomes the differential explosion phenomenon in the traditional backstepping control method, and the updating law of all the unknown parameters only appears in the first step of the control design, thus reducing the complexity of the controller design and implementation. The theory proves that the control scheme not only guarantees that all the signals in the closed-loop system are semi-globally congruent and finally bounded, but also adjusts the controller design parameters so that the tracking error can be adjusted to a small neighborhood of zero. Simulation results further verify the effectiveness of the control scheme.