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针对一类不确定非线性参数严反馈系统,提出基于收缩理论的自适应动态面控制方法.动态面控制器设计保证了各子系统关于状态误差部分收缩;对不确定参数构造收缩自适应律,并利用收缩下的奇异摄动分析降阶处理子系统,确保降阶前后状态误差间的偏差及滤波误差有界;通过分层子系统的收缩鲁棒性分析,证明了原闭环系统状态半全局收敛到以期望轨迹为中心的球域内,保证了跟踪误差及自适应估计有界.刚性机械臂系统仿真验证了所提出方法的有效性.
Aiming at a kind of uncertain feedback system with uncertain nonlinear parameters, an adaptive dynamic surface control method based on shrinkage theory is proposed. The design of dynamic surface controller ensures that each subsystem will partially contract the state error, and that the contractive adaptive law is constructed for uncertain parameters. And using the shrinkage singular perturbation analysis to reduce the processing subsystem, to ensure that the state error before and after the reduced order deviation and the filtering error is bounded; by the robustness of the contraction of the hierarchical subsystem, proves the semi-closed state of the original closed-loop system Converges to the sphere centered on the desired trajectory, which guarantees the tracking error and the adaptive estimation are bounded.The simulation of rigid manipulator system verifies the effectiveness of the proposed method.