【摘要】 对于系统 (R(s) +μΔ(s) ) y =Z(s)u +d ,通过把基于backstepping控制律和规范化自适应律结合起来设计了一种鲁棒的自适应跟踪控制器 ,这种控制器同时具有这两种设计方法的优点 .证明了闭环系统的所有信号有界 ,同时跟踪误差满足∫t+Tt ｜e(τ)｜2 dτ≤c(‖^bm‖2 ∞ +σ +μ2 +d0 2 )T+c.进一步 ,若bm 已知 ,则 |e|≤O 1λ( m +d0 ) + mc01d0+1f0+o(1) .更多还原

【Abstract】 For the system (R(s)+μ Δ(s))y=Z(s)u+d, a robust adaptive tracking controller is given by combining a backstepping control law with a normalized adaptive law. The controller possesses properties of both design approaches. It is proved that all signals in the closed-loop are bounded,and the tracking error satisfies ∫ t+T t|e(τ)|2dτ≤ c(‖ m‖2 ∞+σ+μ2+d2 0)T+c.Furthermore, if b m is known, then |e|≤ O1λ(+d 0)+c 01d 0+1f 0+o(1).更多还原