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针对一类具有未知控制方向、未知参数以及未建模动态的非线性系统,提出了一种带有死区修正的鲁棒自适应递推控制策略.该策略不需要控制方向符号的先验知识.根据参数的上下界先验信息,分别将光滑投影算法和非连续投影算法与参数自适应律结合起来,既抑制了参数的漂移,又使估计参数达到了最小.算法保证了闭环系统所有信号的有界性,同时使得跟踪误差收敛于零的任意小邻域内.
Aiming at a class of nonlinear systems with unknown control directions, unknown parameters and unmodeled dynamics, a robust adaptive recursive control strategy with dead-time correction is proposed, which does not require prior knowledge of directional symbols According to the prior information of the upper and lower bounds of the parameters, the smooth projection algorithm and the non-continuous projection algorithm are respectively combined with the parameter adaptation law, which not only suppresses the parameter drift but also minimizes the estimated parameters.The algorithm ensures that all the signals of the closed-loop system While keeping the tracking error converged to zero in any small neighborhood.