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摘要: 针对一类具有一般不确定性和未知参数的非线性系统,设计出一种适用于输出跟踪 的鲁棒自适应控制器.该控制器对系统的参数和状态的不确定性具有鲁棒性,能保证闭环系 统的全局稳定性,并解决了ε-跟踪问题.仿真实例表明,所设计的鲁棒自适应控制器具有良好 的跟踪性能.Abstract: A class of nonlinear systems with general uncertainties and unknown parameters is considered and a robust adaptive controller is designed for output tracking. The controller is robust to the uncertainties of both the parameter and the state of the systems, can guarantee the global stability of the closed-loop system, and can solve the ε-tracking problem. The simulations show the good track effect of the robust adaptive controller.
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Key words:
- Uncertain nonlinear systems /
- robust adaptive control /
- global stability /
- ε-tracking
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