针对一类不确定非线性系统,提出了基于H_∞跟踪性能的自适应反演控制器来削弱系统部分未建模动态和扰动带来的影响。首先用反演设计方法逐步设计控制律和更新律,并用自适应的方法来调节不确定的参数,然后利用H_∞跟踪设计技术融入自适应反演控制中得到控制律。相对于传统的控制器,给出方法不仅保证系统闭环稳定,也能保证在没有总的不确定上界这样的宽松假设条件下整个系统H_∞跟踪性能。仿真结果验证该方法的有效性。

In this paper, a novel adaptive inverse controller with H_∞ tracking performance for uncertain nonlinear systems was proposed to attenuate the effects caused by unmodeled dynamics, disturbances and approximate errors. The control law and the update law were derived by inverse control method and the uncertain parameter was tuned by adaptive approach Then the H_∞ tracking design technique was incorporated into the adaptive inverse control scheme to derive the control law so that the derived controller was robust with respect to unmodeled dynamics, disturbances and approximate errors. Compared with traditional methods, the proposed approach not only assures closed-loop stability, but also guarantees a H_∞ tracking performance for the overall system based on relaxed assumption without prior knowledge on the upper bound of the lumped uncertainties. Simulation results have shown validity of the proposed control law.