Adaptive nonlinear regulation: equation error from the Lyapunov equation
Adaptive nonlinear regulation: equation error from the Lyapunov equation
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自适应非线性调节：李亚普诺夫方程的方程误差
DOI：
10.1109/cdc.1989.70276
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
L. Praly
中科院分区：
文献类型：
--
作者：
Jean;L. Praly
提出了一种用于非线性、线性参数化系统的自适应控制器。设计中引入的新特点是：（1）对标量Lyapunov方程而不是系统本身的n维方程进行参数估计。这允许容忍非李普希茨不确定性，特别是当稳定法则不是反馈线性化加线性控制时。 (2)采用双重估计。一种估计用于稳定控制，另一种估计用于消除自适应引入的扰动项（如果可能）。提出这一点是为了解决当尝试执行此取消操作时出现的控制器隐式定义问题。<<ETX>>
An adaptive controller for nonlinear, linearly parameterized systems is presented. The new features introduced in the design are: (1) parameter estimation is performed on the scalar Lyapunov equation instead of the n-dimensional equation of the system itself. This allows non-Lipschitz uncertainties to be tolerated, especially when the stabilizing laws are not feedback linearization plus linear control. (2) Double estimation is used. One estimate is used for the stabilizing control, and the other is used to cancel the perturbation terms introduced by the adaptation, if possible. This is proposed to solve the problem of the implicit definition of the controller which arises when one tries to do this cancellation.<<ETX>>