几类控制系数未知非线性系统的输出反馈跟踪控制研究

项目名称： 几类控制系数未知非线性系统的输出反馈跟踪控制研究

项目编号： No.61304013

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 闫雪华

作者单位： 济南大学

项目金额： 24万元

中文摘要： 本项目拟研究几类控制系数未知不确定非线性系统的全局输出反馈跟踪控制问题。由于控制系数未知和系统不确定性等因素的存在，常规的Luenberger型观测器或高增益观测器不再适用。问题解决的关键在于设计出合适的观测器及为观测器增益选择适当的动态调节律。该项目在控制系数符号已知且增长依赖于不可测状态前提下，首先研究控制系数上下界已知的非线性系统，然后再研究仅其下界已知的非线性系统。最后研究控制系数符号（控制方向）未知且增长依赖于可测输出(或不可测状态)的非线性系统。在对系统非线性项进行不同的合理假设下，该项目拟通过利用通用控制理论中的技巧和死区思想，采用尺度变换法、backstepping方法、Nussbuam型增益方法和自适应等技术，构造出相应的自适应输出反馈跟踪控制器。该项目的成功实施，将对机器人控制等不确定非线性系统控制器性能的改善产生积极影响，因此本项目的研究具有重要的理论和实际意义。

中文关键词： 非线性系统；自适应控制；输出反馈；动态高增益；

英文摘要： This project aims to investigate the global practical tracking problem by output-feedback for several classes of uncertain nonlinear systems with unknown control coefficients. Due to the existence of some factors such as unknown control coefficients and system uncertainties, the traditional Luenberger-type or high-gain observer is not feasible and cannot be adopted. How to design a suitable observer as well as dynamic updating laws for the observer gains are two critical questions which need to be solved. Under the premise of uncertain control coefficients with known sign and unmeasured states dependent growth, the project firstly studies the nonlinear systems in which the upper and lower bounds of control coefficients are known, and then considers the systems in which only the lower bound of control coefficients is known. Finally, the project investigates the nonlinear systems with unknown control directions and output (or unmeasured states) dependent growth. By skillfully using the ideas of universal control and dead zone, scaling transformation, backstepping technique, Nussbuam-type gain approach, and adaptive technique, the project will give the corresponding adaptive output-feedback tracking controller under some suitable assumptions on system nonlinearities. The successful implementation of the project wil

英文关键词： nonlinear systems；adaptive control；output-feedback；dynamic high-gain；