STUDY ON INTELLIGENT ROBUST NONLINEAR ADAPTIVE CONTROL

1)提出了利用高增益反馈方案和反步法设计未知程度非线性过程的自适应控制系统的方法。讨论了这些自适应控制系统的最小构造问题。结果表明，在理想情况下，所得到的自适应系统没有残留跟踪误差。相关文献1)、2)、3)、4)和5)2)推广了1)的研究结果，给出了考虑严格正实有理函数性质的不确定相对度(3度)自适应控制系统的设计方法。通用自适应控制器不仅可以处理不确定的相对度，还可以处理高频增益的未知符号。实现了自适应镇定控制、模型参考自适应控制和自适应伺服控制。相关文献有8)、9)、11)、12)、13)、14)和15)。3)给出了双线性过程(自适应)控制系统的设计方法，并将部分方法应用于实际车辆半主动悬架系统的设计。相关的参考文献是6)、7)和10)。

1) Design methods of adaptive control systems for nonlinear processes with unknown degrees were proposed by utilizing high-gain feedback schemes and backstepping procedures. Minimal construction of those adaptive control systems was also discussed. It was shown that the resulting adaptive systems has no residual tracking errors in the ideal case. The related references are 1), 2), 3), 4), and 5).2) The research results of 1) were extended, and the design method of adaptive control systems with uncertain relative degrees (3-degree of uncertainty) were given by considering the property of strictly positive real rational functions. Universal adaptive controllers which deal with not only uncertain relative degrees but also unknown sign of high-frequency gains, were proposed, too. Adaptive stabilizing control, model reference adaptive control and adaptive servo control of those properties were obtained. The related references are 8), 9), 11), 12), 13), 14) and 15).3) Design methods of (adaptive) control systems for bilinear processes were obtained, parts of which were applied to the design of semi-active suspension systems in real vehicles. The related references are 6), 7), and 10).