具有复杂非线性环节的一类严反馈形式非线性系统的鲁棒自适应动态面控制

摘要

针对一类带有磁滞输入的半严反馈非线性系统提出了一种改进的鲁棒自适应动态面控制方案。本方案可以解决采用反推法时产生的＂微分爆炸＂问题,保证闭环系统所有信号半全局一致有界并保证系统的跟踪误差可以收敛到任意小的邻域内。%In this paper, a robust adaptive dynamic surface control for a class of uncertain perturbed strictfeedback nonlinear systems preceded by unknown Prandtl-Ishlinskii hysteresis is proposed. The main advantages of our scheme are that the explosion of complexity problem can be eliminated when the hysteresis is fused with backstepping design. It is proved that the new scheme can guarantee semi-global uniform ultimate boundedness of all closed-loop signals and make the convergence of the tracking error to an arbitrarily small residualset.