论文标题
随着时间变化的参数系统的自适应控制与渐近跟踪
Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking
论文作者
论文摘要
为具有线性参数化的不确定性涉及时变不确定参数的非线性动力学系统开发了连续的自适应控制设计。该设计的关键特征是适应定律中误差（上升）术语的符号的强大组成部分，该术语弥补了由不确定参数的时变性质引起的闭环误差系统中潜在稳定的术语。基于Lyapunov的稳定性分析可确保渐近跟踪和闭环信号的界限。
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the error (RISE)-like term in the adaptation law which compensates for potentially destabilizing terms in the closed-loop error system arising from the time-varying nature of uncertain parameters. A Lyapunov-based stability analysis ensures asymptotic tracking, and boundedness of the closed-loop signals.
