[1] Zhu Yonghong, Jiang Changsheng, Fei Shumin,. Robust adaptive dynamic surface controlfor nonlinear uncertain systems [J]. Journal of Southeast University (English Edition), 2003, 19 (2): 126-131. [doi:10.3969/j.issn.1003-7985.2003.02.006]

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Robust adaptive dynamic surface controlfor nonlinear uncertain systems()

非线性不确定系统鲁棒自适应动态面控制

Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

19

Issue:

2003 2

Page:

126-131

Research Field:

Automation

Publishing date:

2003-06-30

Info

Title:

Robust adaptive dynamic surface controlfor nonlinear uncertain systems

非线性不确定系统鲁棒自适应动态面控制

Author(s):

Zhu Yonghong¹, Jiang Changsheng¹, Fei Shumin²

¹College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
²Research Institute of Automation, Southeast University, Nanjing 210096, China

朱永红¹, 姜长生¹, 费树岷²

¹南京航空航天大学自动化学院, 南京 210016; ²东南大学自动化研究所, 南京 210096

Keywords:

nonlinear systems;  robust control;  adaptive control;  dynamic surface control;  uncertainties

非线性系统;  鲁棒控制;  自适应控制;  动态面控制;  不确定

PACS:

TP273.2

DOI:

10.3969/j.issn.1003-7985.2003.02.006

Abstract:

We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the “explosion of terms” that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method.

本文针对具有未知参数不确定和干扰的严格反馈型的非线性系统鲁棒自适应控制提出了一种新的设计方法, 即动态面控制.传统的递推算法要求对建模的非线性反复多次微分.本文方法由于加入了n个低通滤波器使得算法不用对模型非线性进行多次微分, 因而避免了因“微分项的爆炸”引起的算法复杂性从而简化了算法.理论分析证明了所设计的鲁棒自适应动态面控制器保证了闭环系统的半全局渐近稳定并且使得输出跟踪期望轨迹.仿真结果表明了所设计的控制器的有效性和可行性.

References:

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Memo

Memo:

Biographies: Zhu Yonghong(1965—), male, graduate; Jiang Changsheng(corresponding author), male, professor, jiangCS@nuaa.edu.cn.

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