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首页> 外文期刊>International Journal of Robust and Nonlinear Control >Robust adaptive output feedback control of a class of discrete-time nonlinear systems with nonlinear uncertainties and unknown control directions
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Robust adaptive output feedback control of a class of discrete-time nonlinear systems with nonlinear uncertainties and unknown control directions

机译：一类具有非线性不确定性和未知控制方向的离散时间非线性系统的鲁棒自适应输出反馈控制

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摘要

In this paper, robust adaptive output feedback control is studied for a class of discrete-time nonlinear systems with functional nonlinear uncertainties of the Lipschitz type and unknown control directions. In order to construct an output feedback control, the system is transformed into the form of a nonlinear autoregressive moving average with eXogenous inputs (NARMAX) model. In order to avoid the noncausal problem in the control design, future output prediction laws and parameter update laws with the dead-zone technique are constructed on the basis of the NARMAX model. With the employment of the predicted future outputs, a constructive output feedback adaptive control is proposed, where the discrete Nussbaum gain technique and the dead-zone technique are used in parameter update laws. The effect of the functional nonlinear uncertainties is compensated for, such that an asymptotic tracking performance is achieved, whereas other signals in the closed-loop systems are guaranteed to be bounded. Simulation studies are performed to demonstrate the effectiveness of the proposed approach.
机译：在本文中，研究了一类具有Lipschitz类型的功能性非线性不确定性和未知控制方向的离散时间非线性系统的鲁棒自适应输出反馈控制。为了构建输出反馈控制，将系统转换为具有外源输入（NARMAX）模型的非线性自回归移动平均值的形式。为了避免控制设计中的非因果问题，在NARMAX模型的基础上构造了未来的输出预测定律和死区技术参数更新定律。利用预测的未来输出，提出了一种建设性的输出反馈自适应控制，其中离散Nussbaum增益技术和盲区技术被用于参数更新定律。补偿了功能性非线性不确定性的影响，从而实现了渐近跟踪性能，而保证了闭环系统中的其他信号是有界的。仿真研究表明了该方法的有效性。

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