【作者】 贾祥磊；

【导师】 毕卫萍；

【作者基本信息】 河南师范大学 ， 应用数学， 2012， 硕士

【摘要】 本文主要研究了两类非线性参数不确定系统的鲁棒H∞自适应控制及干扰衰减问题,对于一类线性化既不可控又不稳定的非线性参数不确定系统,可能导致不存在任何光滑的静态或动态控制器.本文则通过运用参数隔离技术和改进的加幂积分器技术,成功设计出一个非光滑鲁棒自适应动态反馈控制律,使得闭环系统既具有内稳定,又达到干扰衰减.首先,本文简要介绍了研究现状和背景.其次,本文研究了一类具有高度非线性性且不具备严格下三角结构的非线性参数不确定系统,通过利用改进的加幂积分器方法及参数隔离技术成功给出了鲁棒H∞自适应控制干扰衰减问题的非光滑控制器,在使闭环系统全局渐近稳定的同时又达到干扰衰减.最后,本章对具有零动态和干扰的不确定高阶非线性参数系统,通过引进新的假设条件,结合参数隔离技术及改进的幂积分器方法设计出一个非光滑的鲁棒H∞自适应反馈控制律,使得闭环系统既具有内稳定性,又使得系统干扰衰减.更多还原

【Abstract】 This paper considers the problem of robust H∞adaptive control and disturbanceattenuation for two class of nonlinearly parameterized systems. Because of uncontrollableunstable linearization, there may not exist any smooth static or dynamic stabilizer. Basedon the tool of adding a power integrator and a new parameter separation technique, thispaper gives nonsmooth robust dynamic feedback laws to reject the disturbance and makethe systems internal stability.Firstly, this paper introduces some related background and development situation.Secondly, this paper studied a class of nonlinearly parameterized systems with gen-eralized lower triangular are studied. Using the tool of adding a power integrator and anew parameter separation technique, the nonsmooth robust H∞adaptive controllers areconstructed, leading to global asymptotic stability and disturbance attenuation.Finally, in this paper, the problem of the robust adaptive H∞control is studied for aclass of nonlinearly parameterized systems with zero dynamic and disturbance uncertainty.Introducing new hypothesis, this paper gives the nonsmooth robust H∞adaptive feedbackcontrol laws on the ground of the tool of adding a power integrator and a new parameterseparation technique, leading to reject the disturbance and make the systems internal sta-bility更多还原