一类具有未知幂次的高阶不确定非线性系统的自适应控制
首发时间:2020-11-19
摘要:\rm 本文研究了一类具有未知幂次的高阶不确定非线性系统的自适应跟踪控制问题. 在无需系统模型先验信息的条件下, 采用反步控制技术和障碍李雅普诺夫方法, 提出了一种新颖的自适应跟踪控制算法. 该控制算法的显著特点是所设计的自适应控制器均与系统幂次无关, 并且能够保证闭环系统的所有信号皆有界. 仿真算例验证了该控制算法的有效性.
关键词: \rm 高阶非线性系统、输出跟踪、自适应控制、障碍函数、未知幂次
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Adaptive control for a class of high-order uncertain nonlinear systems with unknown powers
Abstract:This paper studies the problem of adaptive output tracking for a class of high-order uncertain nonlinear systems with unknown powers. Without incorporating a priori knowledge of the system model, a novel adaptive tracking control algorithm is proposed by combining backstepping control techique and barrier Lyapunov functions. The remarkable feature of the proposed algorithm is that the designed controller does not rely on the powers and ensures the global uniform boundedness of all the closed-loop system. Simulation studies are stated to perform the effectiveness of the control algorithm.
Keywords: \rm High-order nonlinear systems output tracking adaptive control barrier function unknown powers.
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一类具有未知幂次的高阶不确定非线性系统的自适应控制
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