【作者】 王强德；

【导师】 张嗣瀛；

【作者基本信息】 东北大学 ， 控制理论与控制工程， 2005， 博士

【摘要】 非线性伺服问题或非线性输出调节问题指的是设计反馈控制律使得非线性系统的输出渐近地跟踪给定的参考信号，消除输入干扰的影响，且能保证闭环系统的内部稳定性。在过去的几十年里，这个问题受到了众多专家学者的重视，并得到了很多重要的结果。本文将对几类非线性系统的输出跟踪问题进行研究。主要工作概括如下： 研究了一类含有参数不确定和非线性函数不确定的可反馈线性化系统的鲁棒自适应输出跟踪控制问题。利用backstepping方法设计了一种自适应光滑状态反馈控制器，使系统的输出跟踪给定的参考信号。在参考信号和其一阶导数均为有界的条件下，得到了全局输出跟踪，且闭环系统的所有信号全局一致有界。控制器设计中仅需要参考信号和其一阶导数的界，扩大了可跟踪参考信号的范围。 研究了一类具有不可控不稳定线性化的高次下三角结构的非线性系统的自适应实用输出跟踪控制问题。这类系统的线性化系统具有不可控模式且该模式在右半平面有根，渐近跟踪是不可能的。应用修正的自适应增加幂积分方法，设计了一种新型的光滑状态反馈自适应控制器，得到了全局实用输出跟踪，且能保证闭环系统所有信号全局有界。设计中仅要求参考信号和其一阶导数是有界的，并不要求参考信号具有n阶导数。 针对一类具有不可控不稳定线性化的高次非线性系统，在其虚拟控制系数未知但其符号已知的条件下，研究了自适应输出跟踪控制问题。该类系统既不具有反馈线性化性质，对输入也没有仿射特性。首先在虚拟控制系数的上下界为已知常数的假设条件下，设计了光滑自适应状态反馈控制器，保证闭环系统的所有信号全局一致有界，且使得输出跟踪误差进入原点的小邻域内。然后考虑了虚拟控制系数的上下界为函数的情况。这时被控系统可能不是下三角结构。所设计的自适应控制器是一维的。更多还原

【Abstract】 The nonlinear servomechanism problem or the problem of nonlinear output regulation is to design a feedback controller such that the output of a nonlinear system asymptotically tracks prescribed reference signals and rejects input disturbances, while maintaining internal stability of the close-loop system. The problem has been extensively investigated by a number of researchers and many important results have been made over the past decade. In this dissertation, the output tacking control problems of some class of nonlinear systems are investigated. The main work is generalized as follows:For a class of feedback linearizable nonlinear systems with parameters uncertainty and nonlinear function uncertainty, the robust adaptive output tracking control problem is dealt with. By means of the backstepping method, a robust adaptive state feedback controller is designed. The output of the system can track a prescribed reference signal. Under the assumption that the reference signal and its derivative are bounded, the global output tracking is obtained. Moreover all the signals in the closed-loop systems are globally uniformly bounded.Focus is laid on the adaptive practical output tracking control problem of a class of nonlinear systems with high-order lower-triangular and uncontrollable unstable linearization. The asymptotic output tracking is usually not possible because the linearized system has uncontrollable modes whose eigenvalues are on the right half plane. Using the modified adaptive adding a power integrator technique as a basic tool, a new smooth adaptive state feedback controller is designed. The global practical output tracking is achieved and all the signals of the closed-loop systems are globally更多还原