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针对一类含未知常参数向量的高阶随机非线性系统的依概率输出跟踪控制问题,提出了一种非光滑状态反馈动态面控制器设计方法.利用自适应技术,所设计的控制器能够处理未知常参数向量;通过采用Sigmoid函数,保证了期望虚拟控制律的导数连续;通过选取适当形式的李亚普诺夫函数,进行了闭环高阶随机非线性系统的稳定性分析.主要贡献是用动态面技术解决了在高阶随机非线性系统非光滑状态反馈控制器设计过程中的计算膨胀问题.仿真结果表明了闭环系统输出依概率地跟踪上了参考信号.
Aiming at the problem of probabilistic output tracking control of a class of high order stochastic nonlinear systems with unknown vector of parameters, a nonsmooth state feedback dynamic surface controller design method is proposed. By using adaptive technique, the designed controller can handle The unknown parameter vector is unknown. By using the Sigmoid function, the derivative of the expected virtual control law is guaranteed to be continuous. The stability of the closed-loop high-order stochastic nonlinear system is analyzed by selecting Lyapunov function in proper form. The main contribution is using dynamic surface Technology solves the problem of computational expansion in designing non-smooth state feedback controllers of high-order stochastic nonlinear systems.The simulation results show that the output of the closed-loop system tracks the reference signal probabilistically.