Finite-time adaptive robust control

Mingxuan Sun, Jianyong Chen, He Li
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引用次数: 2

Abstract

This paper presents a finite-time control strategy for uncertain systems with unknown time-invariant parameters. The finite-time adaptive robust controller is designed via Lyapunov approach, where projection-type integral and incremental adaptation laws are applied in estimation of the time-invariant parametric uncertainties, respectively. The terminal attractor is suggested in the adaptive robust controller, and with the proposed control schemes, the finite time convergence can be realized. The bounded error convergence result is obtained in the presence of disturbances. Otherwise, the zero-error convergence can be achieved. The numerical results demonstrate the effectiveness of the proposed control schemes.
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有限时间自适应鲁棒控制
针对具有未知时不变参数的不确定系统,提出了一种有限时间控制策略。采用Lyapunov方法设计了有限时间自适应鲁棒控制器,分别采用投影型积分律和增量自适应律估计定常参数不确定性。在自适应鲁棒控制器中引入了终端吸引子,利用所提出的控制方案可以实现有限时间收敛。在存在干扰的情况下,得到了有界误差的收敛结果。否则,可以实现零误差收敛。数值结果验证了所提控制方案的有效性。
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