Adaptive control of nonlinearly parameterized systems

Wei Lin, C. Qian
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引用次数: 25

Abstract

Studies adaptive control of nonlinearly parameterized systems with uncontrollable linearization. Using a parameter separation technique and the tool of adding a power integrator, we develop a feedback domination design approach for the explicit construction of a C/sup /spl infin// adaptive controller which solves the longstanding open problem of global adaptive regulation. A significant feature of our adaptive regulator is its minimal-order property, namely, no matter how big the number of unknown parameters is, the order of the dynamic compensator is identical to one, and is therefore minimal. As an important consequence, global state regulation of feedback linearizable systems with nonlinear parameterization is solved by one-dimensional adaptive controllers, without imposing any convex or concave condition on the parameters.
非线性参数化系统的自适应控制
研究具有不可控线性化的非线性参数化系统的自适应控制。利用参数分离技术和添加功率积分器的工具,我们开发了一种反馈控制设计方法,用于显式构建C/sup /spl infin//自适应控制器,解决了长期存在的全局自适应调节的开放性问题。我们的自适应调节器的一个重要特征是它的最小阶特性,即无论未知参数的数量有多大,动态补偿器的阶数都等于1,因此是最小的。作为一个重要的结果,具有非线性参数化的反馈线性系统的全局状态调节是由一维自适应控制器来解决的,而不需要对参数施加任何凸或凹条件。
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