摘要
针对一类具有未知参数向量、未建模动态和外界扰动的不确定非线性系统,研究了其在线性中性稳定的外系统驱动下的鲁棒输出调节问题.在输出调节问题转化为镇定问题的基础上,结合动态面控制、自适应控制和内模原理,根据外系统信息,设计出控制律镇定闭环误差系统,提出了2种自适应动态面(dynamic surface control,DSC)输出调节控制策略.应用李亚普诺夫稳定性理论,分析了2种自适应控制策略作用下,闭环误差系统的有界性和收敛性,证明了闭环误差系统中所有信号一致最终有界,对比了2种控制策略设计中使相应闭环误差系统稳定的参数取值条件.仿真结果表明:2种控制策略均可行,保守性小的自适应改进动态面(improved dynamic surface control,IDSC)输出调节控制效果不如自适应DSC输出调节策略.
For a class of nonlinear uncertain systems with unknown parameters vector, unmodeled dynamics and external disturbance driven by a linear, neutrally stable exosystem. The robust output regulation problem is researched. The output regulation problem is transformed into a stabilization problem. Based on the dynamic surface control, adaptive control and internal model principle, two kinds of adaptive dynamic surface control （DSC） strategies are proposed by using the external system information to design output regulation control law. Based on Lyapunov stability theory, boundedness and convergence of closed error system of the two kinds of control strategies are analyzed, and it proves that all the signals in the closed-loop error system is uniformly and ultimately bounded. The values of parameters for stable conditions are compared between two closed-loop error systems. Simulation results show the feasibility of the two control strategies. It also shows that the effect of the adaptive IDSC （improved dynamic surface control, IDSC） output adjustment control with lower conservative is not as good as that of adaptive DSC output adjustment control.
出处
《信息与控制》
CSCD
北大核心
2013年第3期327-332,340,共7页
Information and Control
基金
国家自然科学基金资助项目(51175510)
航空科学基金资助项目(20100818017)
关键词
非线性系统
输出调节
内模原理
动态面控制
自适应控制
nonlinear system
output regulation
internal model principle
dynamic surface control
adaptive control
