p规范型广义下三角非线性多模型系统自适应控制研究

This project studies the adaptive control problem of a class of typical nonlinear multiple model systems in p normal forms, which arise from mechatronic systems, power systems, medical systems. The stabilization of such complex nonlinear dynamic systems necessitates local adaptive controllers to deal with inherent nonlinearities and a global nonlinear controller to deal with multiple model dynamics. So a series of constructive methods of local adaptive controllers are presented to handle high-order nonlinearities. Then systematic constructive "hard swiching approaches" and "soft switching appoaches" for global adaptive controller design are proposed.Furthermore,the theoretical analysis are presented to assure the convergence the proposed controllers and the stability of the closed-loop systems, and to improve the transiet response and control quality. So this reseach can extend the adaptive control theory and also is of importance to improve the performance of actual engineering systems.

具有p规范型结构的广义下三角多模型系统是一类具有代表性的强非线性多模型系统，能够刻画包括机电系统、电力系统、医药系统等在内的实际系统。此类系统的自适应控制器设计问题要求同时考虑子系统的本质非线性、工作模态变化的快速性和不同模态的较大差异性。本项目深入地研究一套基于非线性构造方法的"硬切换"、"软切换"自适应控制器设计方法和算法收敛性、稳定性理论分析方法，并进一步改善闭环系统在多工作模式下的控制性能。因此，该项研究不仅可以拓展自适应控制理论，而且对改进实际工程系统性能具有重要意义。

本项目针对具有p规范型结构的广义下三角多模型系统，应用背景包括机电系统、电力系统、医药系统等在内的实际系统。此类系统的自适应控制器设计问题要求同时考虑子系统的本质非线性、工作模态变化的快速性和不同模态的较大差异性。本项目给出一套基于非线性构造方法的“硬切换”、“软切换”自适应控制器设计方法和算法收敛性、稳定性理论分析方法，并进一步改善闭环系统在多工作模式下的控制性能。因此，该项研究不仅可以拓展自适应控制理论，而且可以用于诸如无人机的实际系统。