未知控制方向的非线性级联系统鲁棒自适应输出反馈控制

摘要

This paper studies the robust adaptive output-feedback control problem for a class of nonlinear cascade systems with unknown control directions. The original system with unknown directions is firstly transformed into a new system without unknown control direction by using the linear transformation. Then, based on the linear high gains observer and Nussbaum func-tion, a novel robust adaptive output-feedback controller is proposed. Furthermore, it is proved that all the closed-loop signals remain bounded and the states asymptotically converge to the origin under the controller. Furthermore, a sufficient condition for the asymptotic stability of the closed-loop system is derived by constructing a new Lyapunov function. Finally, a simula-tion example is given to illustrate the effectiveness of the proposed control laws.%本文研究了一类具有未知控制方向的非线性级联系统的鲁棒自适应输出反馈问题.通过线性变换将有多个未知控制方向的系统转化为无未知控制方向的系统,并根据线性高增益控制观测器与Nussbaum函数,设计了一种新的鲁棒自适应输出反馈控制器,进一步证明了在该控制器下闭环系统所有信号有界且状态渐进趋于零.进而,通过构造Lyapunov函数,给出了闭环系统渐进稳定的充分条件.最后,利用仿真实例说明了控制算法的有效性.