一类非线性参数化系统的自适应鲁棒控制

摘要

针对一类含有非线性参数化不确定项的非线性系统,本文提出了一种基于浸入和不变流形的自适应鲁棒控制器.由于浸入和不变流形方法将调节函数引入到参数估计律的设计中,增加了控制器设计自由度,保证对系统中未知参数的渐近估计,使得设计出的自适应鲁棒控制器在克服非线性参数化不确定项和外界扰动影响的同时,保证了良好的动态和稳态性能.最后通过仿真实例验证了所提算法的有效性.%An adaptive robust controller based on immersion and invariance (I&I) manifold method is proposed for a class of nonlinearly parameterized uncertain systems. The introduction of the tuning function of I&I to the estimator of the unknown parameters in the uncertain system increases the degrees of freedom in system controller design and ensures the asymptotic convergence of the estimation error. The designed adaptive robust controller not only handles the nonlinearly parameterized uncertainties and external disturbance, but also ensures the desired transient and steady-state performances. A simulation example is presented to illustrate the effectiveness of the proposed method.