论文标题
具有保证的瞬态行为的自适应控制和具有时变参数的系统的零稳态误差
Adaptive Control with Guaranteed Transient Behavior and Zero Steady-State Error for Systems with Time-Varying Parameters
论文作者
论文摘要
对于不确定的非线性系统，实现全局零错误调节是不平凡的。如果涉及不匹配的不确定性和未知的随时间变化的控制收益，那么潜在的问题将变得更加具有挑战性，但也涉及某些绩效规范。在这项工作中，我们提出了一种自适应控制方法，该方法在没有持续的激发（PE）条件的情况下，它能够确保全局零错误调节具有保证的输出性能，用于参数严格反馈系统，涉及反馈路径和输入路径中的快速时间变化参数。我们的控制方案的发展受益于广义t依赖性和X依赖性功能，一种新型的坐标转换和“变量的连接”方法。理论分析和数值模拟都验证了所提出方法的有效性和好处。
It is nontrivial to achieve global zero-error regulation for uncertain nonlinear systems. The underlying problem becomes even more challenging if mismatched uncertainties and unknown time-varying control gain are involved, yet certain performance specifications are also pursued. In this work, we present an adaptive control method, which, without the persistent excitation (PE) condition, is able to ensure global zero-error regulation with guaranteed output performance for parametric strict-feedback systems involving fast time-varying parameters in the feedback path and input path. The development of our control scheme benefits from generalized t-dependent and x-dependent functions, a novel coordinate transformation and "congelation of variables" method. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
