Adaptive Control for High-order Nonlinear Feedforward Systems With Input and State Delays
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摘要: 本文考虑了一类高阶不确定非线性前馈系统的自适应镇定问题.将高阶非线性进一步放宽到不仅允许状态时滞，而且还具有未知增长率.通过将自适应方法、动态增益控制方法和增加幂次积分器法结合，设计了一个状态反馈控制器.所设计的控制器保证了闭环系统的所有信号有界，平衡点全局稳定，并且原状态收敛到0.Abstract: This paper considers the adaptive stabilization of a class of high-order uncertain nonlinear feedforward systems. The growth condition on nonlinearities is further relaxed by allowing not only input and state delays but also the unknown growth rate. By a combined method of adaptive technique, dynamic gain control approach and adding a power integrator technique, a state feedback controller is designed to guarantee that all signals are bounded, the equilibrium point of the closed-loop system is globally stable and the original state converges to zero.
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Key words:
- Adaptive control /
- dynamic gain /
- high-order nonlinear feedforward systems /
- input and state delays
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