高阶非完整系统的适应调节

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基金项目: 河南省教委基金资助项目(2003110002)

Adaptive Regulation of High Order Nonholonomic Systems

摘要: 通过综合利用“加幂积分器”的方法、“不连续投影”技巧和state scaling技巧构造出了一个不连续的动态适应控制律，解决了一类高阶参数非完整系统的适应调节问题．且所求控制律能确保未知参数的估值在一个预先给定范围内．
- 非完整系统 /
- 适应控制 /
- 稳定性
Abstract: The problem of adaptive regulation for a class of high-order parametric nonholonomic systems chained-form is discussed.Using adding a power integrator technique and state scaling with discontinuous projection technique,a discontinuous adaptive dynamic controller was constructed.The controller guarantees the estimated value of unknown parameter in the prescribed extent.
- nonholonomic system /
- adaptive control /
- triangular system

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