【摘要】 研究一类具有非线性不确定参数的非线性系统的自适应模型参考跟踪问题。假设系统的非线性项关于不确定参数是凸或凹的,去掉了在先前有关研究中要求参考模型矩阵有小于零的实特征值的条件,既考虑了状态反馈控制方式,也考虑了输出反馈控制方式,在采用输出反馈控制时,假设非线性项满足李普希兹条件,但李普希兹常数未知,基于一种极大极小方法,提出了一种自适应控制器的设计方法,控制器是连续的,能保证闭环系统的所有变量有界,并且渐近精确跟踪参考模型,举例说明了本结论的有用性。更多还原

【Abstract】 This paper deals with the problem of model reference adaptive tracking of a class of nonlinear systems with nonlinear parameterized uncertainty.The nonlinear term of the system is assumed to be either convex or concave with respect to the uncertain parameter.The authors do not make the assumption that the matrix of the reference model has a real eigenvalue which is less zero as did in the related previous work.Both state feedback control and output feedback control are considered.When the output control is considered,it is assumed that the nonlinear term satisfies the Lipschitz condition with an uncertain Lipschitz constant.Based on a max-min method,an adaptive control law for the system is proposed.The adaptive control law is continuous,and boundedness of all signals of the closed loop system and asymptotic exact tracking are guaranteed.An example is proposed to illustrate utility of the results in this paper.更多还原