Backstepping Robust Adaptive Feedback Control Design for Stochastic Nonlinear Systems
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摘要: 考虑了一类随机非线性系统的鲁棒自适应控制问题.采用Ito随机微分方程描述系统, 进而在概率意义下研究系统的鲁棒稳定性.应用积分反推(backstepping)方法,系统地给出了设 计状态反馈及输出反馈鲁棒自适应控制器的方法.同时构造出了适当形式的四次型的自适应控 制Lyapunov函数(CLF).Abstract: In this paper, the backstepping robust adaptive feedback control design for a class of nonlinear stochastic systems with stochastic disturbance is studied. The systems are depicted by It6 stochastic differential equations, and the performances such as robust stability are studied in probability. By using backstepping method, the designing procedure of state-feedback and dynamic output-feedback robust adaptive controllers are given. The main contribution of the paper is the quartic control Lyapunov function which is different from the deterministic case.
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