基于极值搜索算法的一类多输入多输出非仿射型非线性系统输出跟踪控制

摘要

针对一类状态不可测的多输入多输出非仿射型非线性系统,提出了基于极值搜索算法的输出跟踪控制方法.此方法无需设计系统状态观测器,仅利用系统的输出量和极值搜索向量形成控制律.应用平均化理论分析平均化系统的稳定性,然后利用奇异值扰动方法,证明了所提出的控制方法可以保证闭环系统的稳定性和输出跟踪误差的收敛性.仿真结果验证了本文方法的有效性.%An output tracking control method based on extremum-seeking algorithm is presented for a class of multiinput multi-output（MIMO） non-affine nonlinear systems with unmeasured states.In place of a state observer,the extremum-seeking algorithm is employed to determine the output extremum,which is used together with the system output in designing the control law.The averaging theory is adopted to analyze the stability of the average system.The stability of the closed-loop system and the convergence of the output tracking error are proved by using the singular perturbation method.Simulation results validate the effectiveness of the proposed method.