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基于自适应非线性阻尼,提出一种鲁棒自适应输出反馈控制方法.该方法适用于带有求建模动态、未知非线性、有界扰动、未知非线性参数和不确定控制系数的多输入多输出非线性系统.理论证明,在一定的假设条件下,该方法能保证闭环系统所有动态信号有界;不论有多少不确定非线性参数、多高阶的非线性系统,只需要一个自适应控制参数和观察参数;而且通过选择适当的控制器和观测器参数,能使控制误差和估计误差达到任意小.仿真结果表明了所提出方法的有效性.
Based on adaptive nonlinear damping, a robust adaptive output feedback control method is proposed, which is suitable for multiple input with modeling dynamics, unknown nonlinearities, bounded disturbances, unknown nonlinear parameters and uncertain control coefficients The theory proves that under certain assumptions, this method can guarantee all dynamic signals of the closed-loop system to be bounded; no matter how many uncertain nonlinear parameters, multi-order nonlinear systems need only one adaptive Control parameters and observation parameters, and by choosing the appropriate controller and observer parameters, the control error and the estimation error can be arbitrarily small.The simulation results show the effectiveness of the proposed method.