摘要
研究一类包含未知非线性项的非线性系统的鲁棒输出调节问题.此类非线性系统由一包含未知参数的线性中性稳定的外系统驱动.首先运用调节器方程组解和标准内模将输出调节问题转化为镇定问题;然后给出控制律镇定闭环系统,同时利用镇定输入项和外系统信息设计出自适应内模方程.控制律使得闭环系统的信号全局最终有界,且误差被调节至预先设定的任意小的精度值.仿真结果验证了所提出设计方法的有效性.
This paper studies robust output regulation problem for a class of nonlinear systems with uncertain nonlinearities. The nonlinear system is driven by a linear, neutrally stable exosystem containing unknown parameters. Firstly, solutions to regulator equation and a canonical internal model are proposed to convert the output regulation problem to stabilization problem, Then, a robust control algorithm is designed to stabilize the close-loop system and the adaptive internal model part is presented with stabilization input items and exosystem information. The control scheme regulates the error signal to arbitrarily prescribed small neighborhood of the origin while maintaining overall signals uniform ultimate boundedness. A simulation example demonstrates the effectiveness of the designed method.
出处
《控制与决策》
EI
CSCD
北大核心
2009年第5期759-763,768,共6页
Control and Decision
基金
国家自然科学基金项目(60674029)
高等学校博士学科点专项科研基金项目(20050358044)
关键词
非线性系统
不确定
输出调节
内模
Nonlinear systems
Uncertainty
Output regulation
Internal model
