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针对一类固有非线性系统,借助现有的迟滞非线性数学模型,解决了如何融合现有的非线性系统滞后模型及其结果来实现实际的自适应输出跟踪控制这一问题。所提方法结合了最新开发的浸入与不变(I&I)工具的框架、幂积分技术和Prandtl-Ishlinshii滞后模型,具有以下两个特征:首先,为了减轻对未知滞后的影响,该方法不一定需要构造一个滞后逆;其次,自适应机制不必满足确定性等价原理。结果表明,当实际中输出跟踪误差保持在原点任意小的邻域内时,所设计的控制器能够保证闭环系统的所有信号是有界的。
For a class of inherent nonlinear systems, the existing hysteresis nonlinear mathematical model is used to solve the problem of how to integrate the existing nonlinear system lag model and its results to realize the actual adaptive output tracking control. The proposed method combines the framework of the newly developed Immersion and Immutability (I & I) tool, the power integration technique and the Prandtl-Ishlinshii Lag model with the following two features: First, to mitigate the effect on unknown lag, this method does not necessarily require Construct a lag inverse; Secondly, the adaptive mechanism need not satisfy the deterministic equivalence principle. The results show that when the output tracking error is kept in any small neighborhood of the origin, the designed controller can ensure that all the signals in the closed-loop system are bounded.