非仿射纯反馈不确定系统预设性能鲁棒自适应控制

发布时间：2018-06-14 21:17

本文选题：非仿射纯反馈系统 + 预设性能　；参考：《电机与控制学报》2017年02期

【摘要】：针对一类结构和参数及控制方向均未知的非仿射纯反馈非线性不确定系统,提出了一种保预设性能鲁棒自适应控制方案。首先引入性能函数和误差转换函数,通过误差转换将原始的输出误差存在性能约束的受限系统转换为等价的非受限系统;其次,基于中值定理将非仿射型系统转化为具有线性结构形式的时变系统,并同时利用自适应投影算法对有界时变参数进行辨识,参数辨识误差和外界干扰采用非线性阻技术项进行补偿;随后综合运用反演技术和Nussbaum函数设计控制器并进行稳定性分析。所设计的控制器不仅能够保证闭环系统所有信号有界且输出误差满足预设的瞬态及稳态性能要求;最后,仿真结果验证了所设计控制方案的可行性与有效性。
[Abstract]:For a class of non affine pure feedback nonlinear uncertain systems with unknown structure and parameters and unknown control direction, a robust adaptive control scheme for presupposed performance is proposed. First, the performance function and error conversion function are introduced, and the original output error constrained system is converted to an equivalent nonuniform system by error conversion. Secondly, based on the median theorem, the non affine system is transformed into a time-varying system with linear structure, and the adaptive projection algorithm is used to identify the bounded time-varying parameters, and the parameter identification error and the external interference are compensated by the nonlinear resistance technology. Then the inversion technique and the Nussbaum function are used synthetically. The controller is designed and the stability analysis is carried out. The designed controller can not only ensure that all the signals in the closed loop system are bounded and the output error satisfies the preset transient and steady-state performance requirements. Finally, the simulation results verify the feasibility and effectiveness of the designed control scheme.
【作者单位】：南昌航空大学飞行器工程学院;
【基金】：航空科学基金项目(2015ZC560007) 江西省教育厅科学技术研究项目(GJJ150707) 江西省科技攻关项目(20151BBE50026) 国家自然科学基金(11462015)
【分类号】：TP273.2

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