论文标题
非线性系统的通用自适应控制
Universal Adaptive Control of Nonlinear Systems
论文作者
论文摘要
这项工作开发了一个新的直接自适应控制框架，该框架将确定性对等原理扩展到具有无与伦比的模型不确定性的一般非线性系统。该方法可以在线调整适应速率，以消除参数估计瞬变对闭环稳定性的影响。如果已知相应的模型参数函数或收缩度量，则该方法可以立即与先前设计或学习的反馈策略结合使用。具有无与伦比的不确定性的各种非线性系统的仿真结果证明了该方法。
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the effects of parameter estimation transients on closed-loop stability. The method can be immediately combined with a previously designed or learned feedback policy if a corresponding model-parameterized Lyapunov function or contraction metric is known. Simulation results of various nonlinear systems with unmatched uncertainties demonstrates the approach.
