【作者】 李艳芳； 刘允刚； 张云；

【Author】 LI Yan-fang LIU Yun-gang ZHANG Yun(School of Control Science and Engineering,Shandong University,Jinan 250061,China)

【机构】 山东大学控制科学与工程学院；

【摘要】 研究了一类具有严格反馈结构及参数不确定性的随机非线性系统自适应跟踪控制.在系统状态可用条件下,应用随机李雅普诺夫定理和反推设计方法,设计状态反馈自适应控制器,该控制器保证闭环系统的输出以任意事先给定的精确度跟踪期望轨迹.此外,该闭环系统是大范围渐近稳定的,并且当随机噪声的系数函数在期望轨迹处消逝时,系统输出在概率意义下渐近跟踪期望轨迹.更多还原

【Abstract】 In this paper,adaptive tracking control is studied for a class of stochastic nonlinear systems,which is in strict-feedback form and with unknown parametric nonlinearities.Under the condition of all system states being available for feedback,by employing the stochastic Lyapunov-like theorem and the backstepping design approach,an adaptive state feedback control law is developed,which guarantees that the output of the result- ing closed-loop system follows the desired trajectory in any pre-given precision.In addition,the closed-loop system is asymptotically stable in the large and its output can be guaranteed to follow the desired trajectory as- ymptotically in probability when the coefficient functions of stochastic noise vanish at the desired trajectory.更多还原