一类非仿射非线性不确定系统自适应鲁棒控制课件.PDFVIP

32 2 Vol. 32 No. 2 2015 2 Control Theory Applications Feb. 2015 DOI: 10.7641/CTA.2015.40103 , (, 330063) : , . , , , . (DSC), , Nussbaum, . , , . . : ; ; Nussbaum; : TP273 : A Adaptive robust control for a class of uncertain non-affine nonlinear system CHEN Long-sheng , WANG Qi (College of Aircraft Engineering, Nanchang Hangkong University, Nanchang Jiangxi 330063, China) Abstract: An adaptive robust control law is proposed for a class of uncertain non-affine nonlinear system with unknown structure, parameters and control direction. The non-affine system is first transformed into a time-varying system with a linear structure by using the mean value theory; and then, the bounded time-varying parameters are estimated by adap- tive algorithms with projection. The estimation error and external disturbance are compensated by employing nonlinear damping terms. By combining dynamic surface control (DSC) with backstepping technique, and employing Nussbaum gain approach, the designed algorithm eliminates not only the ”complexity explosion” problem inherent to the backstep- ping method, but also the possible ”controller singularity” problem causing by unknown control direction. Finally, based on Lyapunov stability theorem and decoupled backstepping method, the semi-global stability of the close-loop system is proved. The simulation results demonstrate the feasibility and validity of the proposed control schemes. Key words: non-affine nonlinear system; dynamic surface control (DSC); Nussbaum function; adaptive control 1 (Introduc