Nonlinear output feedback system based adaptive consistency control method

• Main Authors: SHI ZHIPING, REN CHANG'E, GUAN YONG, LI GUILU
• Format: Patent
• Language: Chinese; English
• Published: 04.01.2019
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention relates to a nonlinear output feedback system based adaptive consistency control method. For a nonlinear system with unknown parameters and unknown control gains, a novel Nussbaum gain and backstepping method based adaptive consistency adjustment controller can be designed. Firstly, as the system is an arbitrary relative order system, and conversion can be performed on the system byintroducing a filter; next, a Nussbaum gain can be designed, and processing can be performed on the unknown control gains; once more, the adaptive consistency adjustment controller can be designed with relative order being 1 based on the property of the Nussbaum gain; and finally, the adaptive consistency adjustment controller with the relative order greater than 1 can be designed by combining thebackstepping method and the filter. The method can be applied to the attitude tracking of aircrafts, the tracking of aviation, aerospace and underwater robots on reference signals, and formation control of vehicles having mas