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Decentralized adaptive output feedback dynamic surface control of interconnected nonlinear systems with unmodeled dynamics

机译：具有非模型动力学的非线性系统的分散自适应输出反馈动态表面控制

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摘要

This paper is concerned with the centralized and decentralized adaptive output feedback control problem for a class of uncertain interconnected nonlinear systems with unmodeled dynamics and unmeasured states. The known requirement of the upper bounds of dynamic disturbances and coupling terms in the considered system is avoided. Decentralized observers are constructed based on the K-filters to estimate the unmeasured states of each subsystem. In the design of adaptive output feedback dynamic surface control, the unknown nonlinear functions are directly approximated by neural networks, while the coupling terms being lumped together with those unknown continuous functions produced in deduction are approximated as a whole. Using the defined compact set in the stability analysis, some unknown nonlinear continuous functions are dealt with effectively. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded. Simulation results are provided to illustrate the effectiveness of the proposed approach.
机译：本文涉及一类具有不确定的动力学和不可测状态的不确定互连非线性系统的集中式和分散式自适应输出反馈控制问题。避免了在所考虑的系统中对动态扰动和耦合项的上限的已知要求。基于K滤波器构造了分散的观察者，以估计每个子系统的未测量状态。在自适应输出反馈动态表面控制的设计中，未知的非线性函数直接由神经网络逼近，而耦合项与推论中产生的未知的连续函数集总成一个整体。通过在稳定性分析中使用定义的紧集，可以有效地处理一些未知的非线性连续函数。证明了闭环系统中的所有信号最终都是半全局一致的。仿真结果表明了该方法的有效性。

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  • 来源
    《Journal of the Franklin Institute》 |2015年第3期|1031-1055|共25页
  • 作者

    Xiaonan Xia; Tianping Zhang; Qin Wang;

  • 作者单位

    Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou 225127, China;

    Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou 225127, China;

    Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou 225127, China;

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