Output regulation of a glass of uncertain nonlinear systems based on high-gain state observers

被引：0
|
作者：
Meng G.-Z. [1 ]
Li X.-H. [1 ]
Song Y.-C. [1 ]
机构：
[1] Department of Applied Mathematics, Harbin University of Science and Technology, Harbin
来源：
Meng, Gui-Zhi | 1600年 / Editorial Department of Electric Machines and Control卷 / 20期
关键词：
Adaptive control; Backstepping design; High-gain observers; Internal model; Lyapunov method;
D O I：
10.15938/j.emc.2016.10.014
中图分类号：
学科分类号：
摘要：
Attitude tracking and disturbance rejection problem of a glass of nonlinear systems with unmodeled dynamics and unknown functions driven by a nonlinear exosystem with the existence of uncertain function and external disturbances is considered. Firstly output regulation problem was transformed to stabilization problem by using state variable change. Then to solve dynamic uncertainty dynamic signal was introduced, and high-gain observers were designed to estimate the unpredictable state. An adaptive nonlinear internal model was designed via exosystem information. The adaptive control theory, Backstepping design method, fuzzy control method and Lyapunov method were utilized to propose an adaptive state controls and adaptive control laws. The controls and laws were designed to achieve in attitude tracking and disturbance rejection of the closed-loop system and tracking error is asymptotically regulated to the arbitrarily small neighbourhood. At last simulation results show its effectiveness. © 2016, Harbin University of Science and Technology Publication. All right reserved.
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页码：104 / 113
页数：9
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