Studies on the design of output feedback based adaptive control systems for MIMO nonlinear systems

自适应控制方案被认为是克服不确定性和提高控制系统鲁棒性的方法之一。有鉴于此，非线性系统的自适应控制引起了人们的极大关注，S在90年代初提出了许多非线性系统的自适应策略，但遗憾的是，这些策略大多是基于状态反馈策略的，在这些方法中，当状态变量不可用时，必须引入状态观测器。因此，控制器结构变得复杂，这可能会限制这些自适应方法在实际系统中的应用。因此，从实际应用的角度出发，考虑一种控制器结构简单、对不确定性具有鲁棒性的控制器是非常重要的。针对只有输出信号的多输入多输出非线性系统，研究了基于输出反馈的简单自适应控制器的设计方案。1)基于输出反馈的多输入多输出非线性系统鲁棒自适应控制系统的设计；2)具有并行前馈补偿器的控制系统设计方案的基础研究；3)离散系统的自适应输出反馈控制设计；4)所提方法的实验验证

The adaptive control scheme is considered as one of the methods against the uncertainties and to improve the robustness of the control system. With this in mind, the adaptive control of nonlinear systems has attracted a great deal of attention, and many sort of adaptive strategies for nonlinear systems were proposed in the early 90's. Most of them, unfortunately, are based on the state feedback strategy ; in these methods, one has to introduce a state observer if the state variables are not available. Therefore the controller structure becomes complex and this might be a restriction for the application of these adaptive methods to practical systems. Thus it is very important from the point of practical application to consider a controller with simple controller structure and robustness with respect to uncertainties. This research was concerned with the synthesis of design scheme of such simple adaptive controls based on output feedback for nonlinear systems including MIMO systems, where only the output signal is available. In particular, the following topics were studied.1)Design of output feedback based robust adaptive control systems for MIMO nonlinear systems.2)Basic studies on the design schemes of control systems with a parallel feedforward compensator.3)Adaptive output feedback control design for discrete systems4)Experimental validation of proposed methods