【摘要】 研究了一类非线性系统的控制器设计.在可以获得不确定未知函数部分信息的基础上,基于一种修改的李亚普诺夫函数对已有的一种设计方案作出改进.新方案避免了原有方案对控制增益倒数一阶导数上界的严格要求,理论分析证明了闭环系统是全局稳定的,跟踪误差收敛到零更多还原

【Abstract】 This paper studies the controller design of a type of nonlinear system. Based on a modified Lyapunov function, an improved design, which obtains some information of the unknown function, has been proposed. The new approach does not require the upper bound of the first time derivative of the control gain. The closed loop system is proved to be globally stable in the sense that all signals involved are bounded, with tracking error converging to zero.更多还原