摘要
针对带有未知虚拟控制增益符号的一类非线性系统,采用基于参数的坐标变换和参数重定义,将该系统转化为参数输出反馈形式,从而将未知的虚拟控制增益归入高频控制增益中.由于该高频控制增益符号未知,将N ussbaum增益技术融入自适应B ackstepp ing方法中设计自适应输出反馈控制器.采用调节函数法设计参数自适应律以避免过参数估计.该方法所设计的自适应输出反馈控制器可确保闭环系统的所有信号一致有界,且跟踪误差渐近收敛.仿真研究表明了该设计方法的有效性.
A global adaptive output-feedback control scheme is proposed for a class of systems in output-feedback form but with unknown virtual control coefficients signs. Trough coordinate transformation and parameter redefinition, the system considered is transformed into the parametric output-feedback canonical form with unkown high-frequency gain sign. To tackle this situation, Nussbaum gain is incorporated in the adaptive backstepping technique. The tuning function method is empoyed to design the parameter adaptive law to avoid overparametrization. All the signals involved in the closed-loop system are globally uniformly bounded and asymptotic tracking is achieved. The simulation result shows the effectiveness of the method.
出处
《控制与决策》
EI
CSCD
北大核心
2006年第11期1298-1302,共5页
Control and Decision
基金
国家自然科学基金项目(60474014)
高等院校博士点基金项目(20020151005)
