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本文研究了一类仅跟踪误差可量测不确定非线性系统的全局输出反馈实际跟踪问题.不同于现有文献,该控制系统具有依赖于不可测状态的增长且增长率为未知常数,并且只要求被跟踪信号及其一阶导数有未知界,因此直接推广现有结果难以解决上述控制问题.受相关镇定结果的启发,并通过灵活运用广义控制(universal control)和死区(dead zone)的方法与技巧,本文设计了自适应输出反馈控制器.主要结果表明,所设计的控制器能够确保跟踪误差经有限时间后收敛于设定的原点的任意小邻域,同时闭环系统的所有信号皆有界.仿真算例验证了理论结果的有效性.
In this paper, we study the problem of tracking the global output feedback of a class of tracking-only uncertainly-measurable nonlinear systems. Unlike the existing literature, the control system has a growth dependent on an unmeasured state and an unknown growth rate, and only Therefore, it is difficult to solve the above control problem by directly extending the existing results and is inspired by the relevant stabilization results and through the flexible use of universal control and dead zone Methods and techniques, this paper designs an adaptive output feedback controller.The main results show that the designed controller can ensure that the tracking error converges to any small neighborhood of the set origin after a finite time, and all signals of the closed-loop system The simulation results show the validity of the theoretical results.