【作者】 杜佳璐； 汪思源； 郑凯； 于双和；

【Author】 DU Jialu,WANG Siyuan,ZHENG Kai,YU Shuanghe School of Information Science and Technology,Dalian Maritime University,Dalian 116026,P.R.China

【机构】 大连海事大学信息科学技术学院；

【摘要】 针对一类带有完全未知的控制系数和有界扰动的严反馈非线性系统,将Nussbaum函数增益与自适应逆推方法相结合,提出一种自适应鲁棒非线性控制方法。所提出的方法不需要未知控制系数符号的任何先验知识,且避免了控制器奇异值摄动问题;采用基于s-修正的泄漏项,阻止自适应律中参数的漂移;并借助Lyapunov函数及相关引理证明了所设计的自适应鲁棒非线性控制器可通过恰当地选取设计参数,保证系统具有任意指定的控制性能,且保证最终的闭环系统所有信号全局一致最终有界。仿真研究证明了所提出算法的可行性和有效性。更多还原

【Abstract】 Incorporating Nussbaum function gain into adaptive backstepping,this paper develops an adaptive nonlinear robust control scheme for a class of nonlinear strict-feedback systems with completely unknown control coefficient and unknown bounded disturbance.The proposed design method does not require any a priori knowledge of the signs of the unknown control coefficient.A leakage term based onσ-modification is adopted to prevent the parameter drifts in the adaptive law.By means of Lyapunov function and related lemmas,it is proved that the designed adaptive robust nonlinear controller can guarantee the stability and the global uniform ultimate boundedness of all signals of the resulting closed-loop system.The prescribed control performances of the system can be guaranteed by an appropriate choice of the design parameters.Simulation studies illustrate the feasibility and effectiveness of the presented approach.更多还原