ROBUST ADAPTIVE CONTROL FOR STRICT‐FEEDBACK NONLINEAR SYSTEMS
ROBUST ADAPTIVE CONTROL FOR STRICT‐FEEDBACK NONLINEAR SYSTEMS
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DOI：
10.1111/j.1934-6093.2005.tb00233.x
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发表时间：
2005-09
影响因子：
2.4
通讯作者：
I. Mizumoto;R. B. Gopaluni;Sirish L. Shah;Z. Iwai
中科院分区：
文献类型：
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作者：
I. Mizumoto;R. B. Gopaluni;Sirish L. Shah;Z. Iwai
在本文中，我们针对具有非参数不确定非线性的严格反馈非线性系统，提出了一种基于反步策略的鲁棒自适应跟踪控制。结果表明，只要不确定的非线性可以由未知有界非线性函数和已知非线性函数分解，就可以设计出稳定的自适应控制系统。所提出的方法也可以处理控制输入项中出现的不确定非线性。它还表明，适当选择设计参数可以保证跟踪误差收敛到任何所需的范围。
In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strict‐feedback nonlinear systems with nonparametric uncertain nonlinearities. It is shown that one can design a stable adaptive control system provided that the uncertain nonlinearities can be decomposed by unknown bounded nonlinear functions and known nonlinear functions. The proposed method can deal with uncertain nonlinearities that appear at the control input term too. It is also shown that suitable choice of design parameters guarantees the convergence of tracking error to any desired bound.