论文：不确定非线性系统的神经网络自适应鲁棒控制.pdfVIP

不确定非线性系统的神经网络自适应鲁棒控制 王洪斌 李铁龙 郭继丽 王洪瑞 （燕山大学电气工程学院，河北，秦皇岛066004 ） 摘 要: 考虑了一类带有不确定性和未知定常参数的非线性系统的状态反馈鲁棒镇定问题。应用微分 几何方法和 Lyapunov 函数法，构造出状态反馈控制器。所获得的控制器可以在线估计参数误差，并 根据其估计值对闭环系统进行鲁棒控制。文中还利用一个 RBF 神经网络学习系统不确定性的未知上 界，有效的克服了系统不确定性的影响，保证系统是全局鲁棒渐近稳定的。仿真算例验证了控制律的 有效性。 关键词: 非线性系统；鲁棒最小相位系统；状态反馈；鲁棒自适应控制。 Neural Adaptive Robust control for uncertain nonlinear systems （Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China ） Wang hongbin Li tielong Guo jili Wang hongrui Abstract: The robust stabilization of a class of nonlinear systems with gain bounded uncertainties and unknown constant parameter is considered. State feedback controller is constructed by employing differential geometry theory and Lyapunov method. The obtained controller estimate the parametric error real time, and give the closed-loop system robust control based on its estimating value. Still, an RBF neural network used to learn the unknown upper bound of system uncertainties effectively eliminate the effects of system uncertainties and guarantees the closed-loop system is robust global asymptotic stabilization. Simulation result of an illustrative example justifies the effectiveness of the control law. Key words: nonlinear systems; robust minimum-phase systems; state feedback; robust adaptive control. 1. 引言 近年来，