【摘要】 讨论一类带有不确定参数的严格反馈系统的自适应反馈无源化问题,系统的相对度不小于1且满足参数的凸性假设。在反步法的框架下,利用反馈等价无源性定理和速度-梯度方法,逐步选择适当的输出和反馈变换,设计出使系统从新输入到构造输出无源的自适应控制器及参数修正律。所得的自适应反馈无源化控制器保证所有的信号都是有界的。反步法克服了反馈无源化设计时相对度的限制;凸性假设拓宽了系统未知参数是线性的常规假设。更多还原

【Abstract】 The problem of adaptive feedback passification of a class of strict-feedback systems with nonlinear parameters is discussed. Its relative degree is no less than one and the parameters satisfy convex assumptions. In the framework of backstepping technique, feedback equivalence passivity theorem and speed-gradient methodology are applied and adaptive controllers and the corresponding parameter updated laws obtained under appropriate choice of control law and output function render the closed-loop systems passive from new input to output. The adaptive feedback passification controllers ensure that all signals remain bounded. Backstepping removes the relative degree obstacle and the convex assumptions extend the regularity of linear parameter assumptions.更多还原