论文标题

非线性参数化非线性耗散系统的间接自适应控制

Indirect Adaptive Control of Nonlinearly Parameterized Nonlinear Dissipative Systems

论文作者

Ortega, Romeo, Cisneros, Rafael, Wang, Lei, van der Schaft, Arjan

论文摘要

在本说明中,我们解决了非线性,输入仿射耗散系统的间接自适应(调节或跟踪)控制的问题。假定供应速率,存储和内部耗散函数可以表示为非线性参数化回归方程,其中映射(取决于未知参数)满足单调性条件 - 这包括大型物理系统,包括被动系统。我们建议使用“功率平衡”方程来估算系统参数,该方程是经典耗散不平等的差异版本,其新估计值可确保在幂宽度方程回归器的间隔激励非常弱的假设下进行全局,指数,参数收敛。为了设计间接的自适应控制器,我们对存在渐近稳定控制器存在的标准假设,该控制器依赖于未知的植物参数,并采用确定性等效的控制法。与其他现有解决方案有关的拟议方法的好处是用示例说明的。

In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the storage and the internal dissipation functions may be expressed as nonlinearly parameterized regression equations where the mappings (depending on the unknown parameters) satisfy a monotonicity condition -- this encompasses a large class of physical systems, including passive systems. We propose to estimate the system parameters using the "power-balance" equation, which is the differential version of the classical dissipation inequality, with a new estimator that ensures global, exponential, parameter convergence under the very weak assumption of interval excitation of the power-balance equation regressor. To design the indirect adaptive controller we make the standard assumption of existence of an asymptotically stabilizing controller that depends -- possibly nonlinearly -- on the unknown plant parameters, and apply a certainty-equivalent control law. The benefits of the proposed approach, with respect to other existing solutions, are illustrated with examples.

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