불확실성 적응기법을 이용한 비선형시스템의 강인 백스테핑 설계

Abstract

In this paper, wc design a robust adaptive controller for a nonlinear system with uncertainties to be rejected via disturbance adaptation law. The nonlinear system considered has unknown nonlinear functions being influenced by external disturbance. The upper bound of unknown nonlinear functions at each time is estimated by using a disturbance adaptation law. The estimated nonlinear functions are used to design a stabilizing function and a control input. Tuning function is used to estimate unknown system parameter without overparametrization. A set-point regulation error converges to a residual set close to zero asymptotically. The effectiveness of the proposed controller is investigated by computer simulations.