一类非线性不确定系统的最优自适应控制new

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1、>32/>1f:D{aVol.32,No.12006d1ÆACTAAUTOMATICASINICAJanuary,20061)_R℄EW[YHjbiXag12lqnmop1(&!dn0`
9Cz`&!300160)2(}p)0`?7UA?ld&`}p200030)(E-mail:chenplum@sohu.com)^f)Hp?rD.wEo4"7'++r7:W[D.::;A=%7'j:+D.:;z;A=%1

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hZSTP271OptimalAdaptiveControlofaClassofNonlinearUncertainSystemsCHENYi-Mei1HANZheng-Zhi21(InstituteofComputerTechnologyandAutomation,TianjinPolytechnicUniversity,Tianjin300160)2(SchoolofElectronicInformation&Electric

4、alEngineering,ShanghaiJiaotongUniversity,Shanghai200030)(E-mail:chenplum@sohu.com)AbstractInthispaper,theproblemofadaptivestabilizationofaclassofnonlinearsys-temswithunknownparametersbothinstateandcontrolvectorshasbeenconsidered.Theproblemofadaptivestabilizationofnonlinearsystemsisr

5、educedtotheproblemofnonadap-tivestabilizationofanextendedsystem.AnadaptivecontrollerisdesignedtocompletethestabilizationbyemployingtherobustcontrolLyapunovfunctionoftheextendedsystem.Furthermore,thecontrollerisalsoverifiedtopossesstheoptimalitybyapplyingtheinverseoptimalmethod.Keywor

6、dsControlLyapunovfunctions,adaptivecontrol,robuststability,inverseoptimal1wg[1][2]8,1983ArtsteinSontag#)5%Lyapunovs(CLF)_ew/5%Lyapunovsf:5%876Gl8d'G[T>V8UYB[3],zm^6hCLF,>V^A}oTCLFB,B8e)B,:85%iLyapunovs+GUYB,:Y8X
U1)Z9u3`(A0510025)60NaturalSci

7、enceFoundationofFujianProvince(A0510025)`yf2004-11-23℄^`yf2005-10-19ReceivedNovember23,2004;inrevisedformOctober19,2005Copyrightc2006byEditorialOfficeofActaAutomaticaSinica.Allrightsreserved.1g#CT=p?W[sAD.:A
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8、x5%Lyapunovs(ACLF)8_eYGGo>UYB,$j-ACLF,-9B,H8x:9d'o>25%**q6rB,vB8UYB,89:<$A}B,85%LyapunovsDGB,8x:8'X'Æ)B,8x:895%"oA}aYG5%*lR>[,Y^"85%2[7]2zES~B,x˙(t)=f(x(t),d(t))+g(x(t))u(t)(1)nlh*x∈R32Fd(t)∈D⊆R1B,8vBu(t)∈U⊆R3B,5%Ff,g

9、3kysnG8λ,f(0,