论文标题
在未知控制收益下,具有与参数变化的非线性系统的全局指数稳定性的自适应控制
Adaptive Control with Global Exponential Stability for Parameter-Varying Nonlinear Systems under Unknown Control Gains
论文作者
论文摘要
即使对于具有匹配的不确定性和持续激发(PE)条件的时间不变的非线性系统,即使达到指数稳定性也是不平凡的。在本文中,不需要PE条件,我们解决了严格反馈系统的全球指数稳定问题,其不匹配的不确定性和未知且随时间变化的控制收益。随着时间变化的反馈收益嵌入的最终控制能够确保在没有持续激发的情况下,参数 - 图像反馈系统的全局指数稳定性。通过使用增强的Nussbaum函数,先前的结果将扩展到更通用的非线性系统,在这种非线性系统中,随时间变化的控制增益的符号和幅度未知。特别是,努斯鲍姆功能的论点始终借助非线性阻尼设计,这对于对Nussbaum功能的界限进行直接的技术分析至关重要。最后,建立了与参数变化的严格反馈系统的全局指数稳定性,控制输入的界限和更新速率以及参数估计的渐近稳定性。进行数值模拟以验证所提出方法的有效性和好处。
It is nontrivial to achieve exponential stability even for time-invariant nonlinear systems with matched uncertainties and persistent excitation (PE) condition. In this paper, without the need for PE condition, we address the problem of global exponential stabilization of strict-feedback systems with mismatched uncertainties and unknown yet time-varying control gains. The resultant control, embedded with time-varying feedback gains, is capable of ensuring global exponential stability of parametric-strict-feedback systems in the absence of persistence of excitation. By using the enhanced Nussbaum function, the previous results are extended to more general nonlinear systems where the sign and magnitude of the time-varying control gain are unknown. In particular, the argument of the Nussbaum function is guaranteed to be always positive with the aid of nonlinear damping design, which is critical to perform a straightforward technical analysis of the boundedness of the Nussbaum function. Finally, the global exponential stability of parameter-varying strict-feedback systems, the boundedness of the control input and the update rate, and the asymptotic constancy of the parameter estimate are established. Numerical simulations are carried out to verify the effectiveness and benefits of the proposed methods.