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鲁棒自适应反推控制器的降阶设计

吴昭景 解学军 张嗣瀛

吴昭景, 解学军, 张嗣瀛. 鲁棒自适应反推控制器的降阶设计. 自动化学报, 2005, 31(4): 543-548.
引用本文: 吴昭景, 解学军, 张嗣瀛. 鲁棒自适应反推控制器的降阶设计. 自动化学报, 2005, 31(4): 543-548.
WU Zhao-Jing, XIE Xue-Jun, ZHANG Si-Ying. The Reduced-order Design of Robust Adaptive Backstepping Controller. ACTA AUTOMATICA SINICA, 2005, 31(4): 543-548.
Citation: WU Zhao-Jing, XIE Xue-Jun, ZHANG Si-Ying. The Reduced-order Design of Robust Adaptive Backstepping Controller. ACTA AUTOMATICA SINICA, 2005, 31(4): 543-548.

鲁棒自适应反推控制器的降阶设计

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    通讯作者:

    吴昭景

The Reduced-order Design of Robust Adaptive Backstepping Controller

More Information
    Corresponding author: WU Zhao-Jing
  • 摘要: For a class of systems with unmodeled dynamics, robust adaptive stabilization problem is considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introducing a reduced-order observer, an error system is obtained. Based on the system, a reduced-order adaptive backstepping controller design scheme is given. It is proved that all the signals in the adaptive control system are globally uniformly bounded, and the regulation error converges to zero asymptotically. Due to the order deduction of the controller, the design scheme in this paper has more practical values. A simulation example further demonstrates the efficiency of the control scheme.
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出版历程
  • 收稿日期:  2004-05-24
  • 修回日期:  2004-12-28
  • 刊出日期:  2005-07-20

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