To solve control problems of extremum seeking systems with unknown parameters under the premise of prescribed performance,extremum reference trajectory is designed for the objective function with unknown parameters.Prescribed performance is realized by the performance function and the system equivalent model is constructed by the transformation function.Backstepping controller is designed based on the transformation model and the unknown parameters adaptive estimation law is given.Therefore,extremum seeking is achieved and prescribed performance is satisfied.Simulation results show the effectiveness of the method.%考虑在满足预设性能前提下的含未知参数极值搜索系统的控制问题,针对含未知参数的目标函数设计极值参考轨迹,利用性能函数进行预设性能设定,利用误差转换函数构建等效模型并针对等效模型设计反演控制器,设计未知参数的自适应估计律,使系统实现极值搜索的同时满足预设性能.仿真验证了该方法的有效性.
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