对一类具有状态和输入未建模动态且控制增益符号未知的纯反馈非线性系统,利用非线性变换、改进的动态面控制方法以及Nussbaum函数性质,提出两种自适应动态面控制方案.利用正则化信号来约束输入未建模动态,从而有效地抑制其产生的扰动.通过引入动态信号,有效地处理了由状态未建模动态引起的动态不确定性.通过在总的李雅普诺夫函数中引入非负正则化信号,并利用稳定性分析中引入的紧集,证明了闭环控制系统是半全局一致终结有界的.数值仿真验证了所提方案的有效性.%Based on dynamic surface control(DSC)method and using Nussbaum function property,two adaptive DSC schemes are developed for a class of pure-feedback nonlinear systems with state and input unmodeled dynamics as well as unknown control gain sign in this paper.Normalization signal is designed to restrict the input unmodeled dynamics, and the disturbance produced by it is effectively suppressed.Dynamic signal is introduced to deal with the dynamic uncertainty caused by unmodeled dynamics.By adding the normalization signal to the whole Lyapunov function and using the defined compact set in stability analysis,all the signals in the closed-loop system are proved to be semi-globally uniformly ultimately bounded(SGUUB).Numerical simulation verifies the effectiveness of the proposed approach.
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