A Design Method of Adaptive Robust Controller for Nonlinear Systems with Modelling Errors
A Design Method of Adaptive Robust Controller for Nonlinear Systems with Modelling Errors
复制标题
具有建模误差的非线性系统的自适应鲁棒控制器设计方法
DOI：
10.9746/sicetr1965.34.1388
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
K. Tamura
中科院分区：
文献类型：
--
作者：
T. Shen;Y. Mutoh;K. Tamura
本文提出了一种具有建模误差的非线性系统自适应控制器的设计方法。建模误差用状态的非线性光滑扰动函数来描述。鲁棒调节和鲁棒干扰抑制被认为是使用自适应技术。结果表明，如果系统的零动态是鲁棒稳定的，那么可以构造的李雅普诺夫函数的整个闭环系统使用基于李雅普诺夫递归设计方法。
This paper presents an approach to design adaptive controller for nonlinear system with modelling errors. The modelling errors are described by nonlinear smooth perturbated function in the state. Robust regulation and robust disturbance attenuation are considered by using adaptive techniques. It is shown that if zero dynamics of the system is robust stable, then one can construct the Lyapunov function for the overall closed loop system by using the Lyapunov-based recursive design method.