一类具有未知逆冲滞后的非线性系统的自适应控制

Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI:10.1109/CDC.2000.912064

C. Su, Yonghong Tan, Y. Stepanenko

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引用次数: 18

摘要

研究一类非线性动力系统的自适应控制问题，该系统具有未知的类间隙滞回非线性，其滞回用微分方程表示。利用微分方程的解性，将其与自适应控制技术相结合，提出了一种鲁棒自适应控制算法，无需构造滞后逆。新的控制律保证了自适应系统的全局稳定性，使自适应系统的稳定和跟踪精度都在期望的精度范围内。在一个非线性系统上进行的仿真验证了该方法。

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Adaptive control of a class of nonlinear systems preceded by an unknown backlash-like hysteresis

This paper deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach.

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Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)

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