【作者】 王强德； 井元伟； 张嗣瀛； 王忠锐；

【Author】 Wang Qiangde, Jing Yuanwei, Zhang Siying, Wang Zhongrui(Institute of Automation, Qufu Normal University, Qufu, 273165, ChinaSchool of Information Science and engineering, Northeastern University, Shenyang, 110004, China School of Science, Laiyang Agricultural College, Laiyang, 265200, China)

【机构】 山东曲阜师范大学自动化研究所； 东北大学信息科学与工程学院； 山东莱阳农学院理学院；

【摘要】 解决了一类含有一般非线性参数的非线性系统的鲁棒自适应跟踪控制问题。首先利用参数分离方法,将非线性参数向量转化为线性参数,然后用后推方法设计自适应控制器。所设计的控制器能保证输出跟踪误差收敛到零的任意小邻域内,且所有信号全局有界。仿真结果验证了算法的有效性。更多还原

【Abstract】 The robust adaptive output tracking control problem for a class nonlinear systems with nonlinear parameters is solved. First, using the parameter separation technique, we translate the nonlinear parameters into linear parameter. Then, the backstepping technique is applied to design an adaptive controller. The proposed controller can assure that not only the output tracking error converges to an any small neighborhood of zero but all the signals are global bounded. Simulation results validate the effectiveness of the proposed controller.更多还原