046一种改进及非线性纯反馈系统及自适应动态面控制.docVIP

一种改进的非线性纯反馈系统的自适应 动态面控制 鲁 瑶 许莉娟 张天平 (扬州大学信息工程学院, 扬州 225009 ) Lyapunov函数,提出了一种改进的自适应动态面控制方案.将一阶滤波器引入后推设计中避免了传统后推方法中对虚拟控制反复求导而导致的计算复杂性问题.与已有文献相比,该方案放宽了对于控制系统的要求,有效地减少了可调参数的数目,无需虚拟控制增益系数导数的信息.理论分析证明了闭环控制系统是半全局一致终结有界的,且跟踪误差收敛到一个小的邻域内. 关键字: 纯反馈系统; 自适应控制; 动态面控制; 积分型Lyapunov函数 中图分类号: TP273 文献标识码: A 文章编号: 1001-0505(2010) 增刊 (II)-XXXX-XX An improved adaptive dynamic surface control for a class of nonlinear systems in pure feedback form Lu Yao Xu Lijuan Zhang Tianping (College of Information Engineering, Yangzhou University, Yangzhou 225009, China.) Abstract: The problem of adaptive control is studied for a class of nonlinear systems in pure feedback form with unknown system functions and uncertain disturbances in this paper. By introducing dynamic surface control technique, and incorporating the approximation capability of neural networks, and using integral-type Lyapunov function, an improved adaptive dynamic surface control is developed for the above systems. By introducing the first order filter, the explosion of complexity caused by the repeated differentiations of certain nonlinear functions such as virtual controls in traditional backstepping design is avoided. Compared with the existing literature, the proposed approach relaxes the restriction of the system and reduces the number of adjustable parameters effectively, and does not require the derivative of the virtual control coefficients. By theoretical analysis, the closed-loop control system is shown to be semi-globally uniformly ultimately bounded, with the tracking error converging to a small neighborhood of the origin. Key words: pure feedback systems; adaptive control; dynamic surface control; integral-type Lyapunov function 近年来, 后推技术的应用得到了广泛的关注, 许多学者将自适应后推方法与模糊控制相结合提出了一些非线性自适应模糊后推控制方法[1,2]. 文献[3,4]提出了针对带扰动的严格反馈系统自适应后推控制方案. 基于分析方法与小增益定理方法, 文献[5]提出了一种自适应神经网络控制方案, 解决了一类完整的非仿射纯反馈系统的控制问题. 针对后推设计中由于对虚拟控制反复求导而导致的参数膨胀问题, SWAROOP. D.等人提出了动态面控制(DSC)方法[6]. 文献[7]引入动态面技术, 针对一类不确定非线性严格反馈系统, 提出了一种基于神经网