Universal output regulation for nonlinear systems in output feedback form
Universal output regulation for nonlinear systems in output feedback form
复制标题
输出反馈形式的非线性系统的通用输出调节
DOI：
10.1109/cdc.2002.1184963
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Z. Ding
中科院分区：
文献类型：
--
作者：
Z. Ding
研究一类受未知扰动的不确定非线性系统的输出反馈全局输出调节问题。系统模型的不确定性和外系统的不确定性同时得到解决。由未知线性系外系统产生的扰动被完全补偿。假设系外系统的阶数是已知的，特征值是不同的。假设系统采用最小相位输出反馈形式，不知道系统参数的值，包括高频增益。在控制设计中不需要其他假设。为了保证对状态变量的调节是全局的，引入了一种新的状态估计公式。利用系外系统的无源性，设计了一种新的辅助误差，该误差既包括系外系统的未知参数，也包括系外系统的未知参数，从而可以将所有未知参数组合成适合自适应控制设计的格式。在自适应控制中引入努斯鲍姆增益来处理未知的高频增益，并使许多控制系数自适应，从而使对干扰中未知频率的调节是全局的。
This paper deals with global output regulation via output feedback of a class of uncertain nonlinear systems subjected to a class of unknown disturbances. Both the uncertainty in the system model and the uncertainty in the exosystem are tackled concurrently. The disturbances generated from a unknown linear exosystem are completely compensated. The order of the exosystem is assumed known and the eigenvalues are distinct. The system is assumed in the format of the minimum-phase output feedback form, with no knowledge of the values of the system parameters, including the high-frequency gain. No other assumptions are needed in the control design. A new formulation of state estimation is introduced to ensure the regulation is a global one with respect to state variables. The passivity of the exosystem is exploited to design a new auxiliary error, involving both the unknown parameters of the reformatted exosystem and those of the system, which makes it possible to group the all the unknown parameters in a format suitable to adaptive control design. A Nussbaum gain is introduced to adaptive control to deal with the unknown high frequency gain and a number of control coefficients are also made adaptive so that the regulation is global with respect to unknown frequencies in the disturbances.