控制理论(社会学)
有界函数
非线性系统
控制器(灌溉)
自适应控制
数学
观察员(物理)
非线性控制
最小相位
全状态反馈
计算机科学
传递函数
控制(管理)
工程类
生物
电气工程
物理
数学分析
人工智能
量子力学
农学
出处
期刊:IEEE Transactions on Automatic Control
[Institute of Electrical and Electronics Engineers]
日期:1996-01-01
卷期号:41 (2): 177-188
被引量:583
摘要
We consider a single-input-single-output nonlinear system which can be represented globally by an input-output model. The system is input-output linearizable by feedback and is required to satisfy a minimum phase condition. The nonlinearities are not required to satisfy any global growth condition. The model depends linearly on unknown parameters which belong to a known compact convex set. We design a semiglobal adaptive output feedback controller which ensures that the output of the system tracks any given reference signal which is bounded and has bounded derivatives up to the nth order, where n is the order of the system. The reference signal and its derivatives are assumed to belong to a known compact set. It is also assumed to be sufficiently rich to satisfy a persistence of excitation condition. The design process is simple. First we assume that the output and its derivatives are available for feedback and design the adaptive controller as a state feedback controller in appropriate coordinates. Then we saturate the controller outside a domain of interest and use a high-gain observer to estimate the derivatives of the output. We prove, via asymptotic analysis, that when the speed of the high-gain observer is sufficiently high, the adaptive output feedback controller recovers the performance achieved under the state feedback one.
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