This paper synthesises a constrained sampled-data output feedback controller for uncertain multivariable nonlinear systems in the presence of various constraints, using the filtered adaptive control architecture. Nonlinear uncertainties are estimated online by solving the error dynamics between the output predictor and the real system with the neglection of unknowns, the yielded adaptive parameters are piecewise constant. In the proposed control scheme, the nonlinear uncertainties are compensated for within the bandwidth of low-pass filters, while the trade-off between tracking and constraints violation avoidance is formulated as a numerical constrained optimisation problem which is solved periodically. Priority is given to constraints violation avoidance at the cost of deteriorated tracking performance. System transformations are performed to find the sufficient conditions that can guarantee the stability of the closed-loop system with the sampled-data controller, where both the states and control inputs are held constant over the sampling period.

本文使用滤波自适应控制架构，在存在各种约束的情况下，为不确定的多变量非线性系统综合了一种约束采样数据输出反馈控制器。通过求解输出预测器与真实系统之间的误差动态，在忽略未知量的情况下在线估计非线性不确定性，产生的自适应参数是分段常数。在所提出的控制方案中，非线性不确定性在低通滤波器的带宽内得到补偿，而跟踪和约束违反避免之间的权衡被公式化为一个定期求解的数值约束优化问题。优先考虑以降低跟踪性能为代价的约束违反规避。