东南大学学报（英文版）2003，Vol.19Issue(2)：126-131,6.
非线性不确定系统鲁棒自适应动态面控制
Robust adaptive dynamic surface control for nonlinear uncertain systems
摘要
Abstract
We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the "explosion of terms" that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method.关键词
非线性系统/鲁棒控制/自适应控制/动态面控制/不确定Key words
nonlinear systems/robust control/adaptive control/dynamic surface control/uncertainties分类
信息技术与安全科学引用本文复制引用
朱永红,姜长生,费树岷..非线性不确定系统鲁棒自适应动态面控制[J].东南大学学报（英文版）,2003,19(2):126-131,6.基金项目
The National Natural Science Foundation of China (60174045). （60174045）
