引用本文:王 芹,张天平.一类MIMO非线性时滞系统的鲁棒自适应控制[J].控制理论与应用,2009,26(10):1167~1171.[点击复制]
WANG Qin,ZHANG Tian-ping.Robust adaptive control for a class of MIMO nonlinear systems with time-varying delay[J].Control Theory and Technology,2009,26(10):1167~1171.[点击复制]
一类MIMO非线性时滞系统的鲁棒自适应控制
Robust adaptive control for a class of MIMO nonlinear systems with time-varying delay
摘要点击 2525  全文点击 1520  投稿时间：2007-07-04  修订日期：2009-07-05
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DOI编号  10.7641/j.issn.1000-8152.2009.10.021
  2009,26(10):1167-1171
中文关键词  自适应控制  时滞  一致终结有界
英文关键词  adaptive control  time-varying delay  semi-global uniformly ultimately bounded
基金项目  国家自然科学基金资助项目(60874045, 60774017).
作者单位E-mail
王 芹 扬州大学 信息工程学院自动化专业部, 江苏 扬州 225009 wangqinyzu@126.com 
张天平 扬州大学 信息工程学院自动化专业部, 江苏 扬州 225009 tpzhang@yzu.edu.cn 
中文摘要
      针对一类具有非线性输入的MIMO时变时滞系统, 基于变结构控制原理, 提出了一种稳定自适应控制器设计的新方案. 该方案通过使用Lyapunov-Krasovskii(L-K)泛函抵消了因未知时变时滞带来的系统不确定性;进一步,利用Young’s不等式和参数自适应估计取消了非线性死区输入模型和不确定项假设中各种参数均为已知的要求. 通过理论分析, 证明了闭环控制系统半全局一致终结有界, 跟踪误差收敛到零的一个邻域内.
英文摘要
      A new variable structure adaptive control scheme is proposed for a class of uncertain multi-input and multioutput(MIMO) nonlinear systems with nonlinear input and time-varying delays. The unknown time-varying delay is compensated by using Lyapunov-Krasovskii(L-K) functionals in the design. Furthermore, using the Young inequality and the parameter adaptive stimation, the parameters in the nonlinear dead-zone models and the lumped uncertainty are not ecessary to be known. By theoretical analysis, the closed-loop control system is proved to be semi-global uniformly ultimately bounded(UUB), and the output tracking error converges to a neighborhood of zero.