一类非齐次高阶非线性系统的自适应控制设计.pdf

第33 卷第6 期 控制 理 论 与 应 用 Vol. 33 No. 6 2016 年6 月 Control Theory Applications Jun. 2016 DOI: 10.7641/CTA.2016.50671 一一一类类类非非非齐齐齐次次次高高高阶阶阶非非非线线线性性性系系系统统统的的的自自自适适适应应应控控控制制制设设设计计计 孙 丞 , 孙鹤旭 , 刁心薇 (1. 河北工业大学控制科学与工程学院, 天津300401; 2. 河北工业大学理学院, 天津300401) 摘要: 本文讨论了一类具有未知参数的非齐次高阶非线性系统的全局强稳定自适应控制器的设计问题, 定义了 一个时变未知参数和一列非齐次辅助函数, 通过增加辅助函数的积分项的方法并结合自适应控制技术, 放宽了目前 已有结论中对非线性项的限制, 给出了使系统全局强稳定的连续自适应控制器存在的一个充分条件, 给出了它的自 适应状态反馈控制器的递推设计方法, 并通过一个例子验证了文章的理论结果. 关键词: 非线性系统; 自适应系统; 非齐次; 未知控制系数 中图分类号: TP273 文献标识码: A Adaptive control design for a class of high order nonlinear nonhomogeneous uncertain systems SUN Cheng , SUN He-xu , DIAO Xin-wei (1. School of Control Science and Engineering, Hebei University of Technology, Tianjin 300401, China; 2. School of Science, Hebei University of Technology, Tianjin 300401, China) Abstract: This paper discusses the problem of the globally strongly stablilizing adaptive controller design for a class of nonhomogeneous high order nonlinear systems with unknow parameters, by defining an unknown parameter which need dynamic updating and a series of nonhomogeneous auxiliary functions, also by using the method of adding an integrator of the nonhomogeneous auxiliary function merging with adaptive technique, the restriction on the nonlinearities of existing results is relaxed and the sufficient conditions for the existence of continuous adaptive controller which guarantees the systems are globally strongly stable is given. A recursive design procedure is provided to achieve continuous adaptive state fee