This paper presents a novel robust H_∞ model reference adaptive tracker (MRAT) for a class of nonlinear systems with input nonlinearities, uncertainties, and mismatched disturbances. Since the bounds of input nonlinearities and uncertainties are unknown, a new adaptive controller is proposed to solve these problems. Because the proposed adaptive laws are with convergence, the adaptive gains estimated can avoid overestimation. Furthermore, the sliding mode control (SMC) is implemented integrated with a smooth function, then the undesirable chattering phenomenon is reduced. Finally, the proposed tracking controller can process the undesirable effects of external disturbances and promote the tracking performance even subjected to the unknown input nonlinearity. The numerical simulation results demonstrate the robustness and validity of the proposed tracking controller.

本文提出了一种新颖的鲁棒H ^ _∞模型参考自适应跟踪器（MRAT），用于一类具有输入非线性，不确定性和失配干扰的非线性系统。由于输入非线性和不确定性的界限是未知的，因此提出了一种新的自适应控制器来解决这些问题。因为所提出的自适应律具有收敛性，所以估计的自适应增益可以避免过高估计。此外，将滑模控制（SMC）与平滑功能集成在一起，从而减少了不希望的抖动现象。最后，所提出的跟踪控制器可以处理外部干扰的不良影响，甚至在未知输入非线性的情况下也可以提高跟踪性能。数值仿真结果证明了所提出跟踪控制器的鲁棒性和有效性。