一类非最小相位非线性系统的自适应控制
Adaptive Control for a Class of Nonminimum Phase Nonlinear Systems
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摘要: 针对一类非最小相位的非线性系统,通过引入一个近似系统,提出了一种简单的间接自 适应控制方法,并分析了采用该方法后系统输出的跟踪性能,给出了输出跟踪误差的上限.该 方法可克服现有的非线性自适应控制方法只能控制最小相位的非线性系统并且容易产生过 度控制的缺点.Abstract: By introducing an approximate system, a simple indirect adaptive control method is presented for the control of a class of nonminimum phase nonlinear systems. The output tracking performance is analyzed, and the upper bound of the output tracking error is given. The proposed method can overcome the drawbacks of existing adaptive nonlinear control methods which can only control minimun phase nonlinear systems and may easily result in a large control effort.
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Key words:
- Nonlinear systems /
- adaptive control /
- nonminimum phase systems
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