摘要
针对一类具有未知参数,未建模动态和外界干扰的不确定非线性系统,选择适当的参数对这些不确定性进行估值和补偿,利用Backstepping方法,设计了一种新的鲁棒自适应控制器。该控制器能保证闭环系统的所有信号是全局有界的,且输出的绝对值可以任意小。仿真结果表明,所设计的鲁棒控制器达到了理想的结果。
An adaptive robust controller is proposed for a class of uncertain nonlinear system which include unknown parameter, undynamic model and outside disturbance. The design method is based on the Backstepping and select proper parameter in order to estiraate and compensate the uncertainty. All signals and states of the controller systems are ensured with global boundness, the output is arbitrarily small. We reached the anticipant result from the simulation.
出处
《重庆邮电大学学报（自然科学版）》
2007年第B06期103-105,共3页
Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition)
基金
重庆市科委项目(SCTC2005BB0061)
