Abstract: A dual-loop robust tracking control method is proposed for the tracking control of generalized second-order nonlinear systems with variable parameters and bounded state and control inputs. The system is decomposed into two independent subsystems by introducing virtual tracking controller, the outer loop virtual controller tracks the input globally asymptotically and generates the inner loop virtual input, the inner loop adopts adaptive control method to realize robustness which caused by parameter’s perturbation, external disturbance and exceed saturated amplitude, and to ensure the exponential convergence of the virtual input. Dual-loop adaptive tracking controller can satisfy the tracking accuracy and robustness to uncertainties under bounded state and control inputs. The system with dual-loop tracking controller has higher reliability than the one with backstepping controller. Numerical simulation of spacecraft attitude tracking control problem verifies the validity of the method.

Key words: Nonlinear system, adaptive control, control saturation, dual-loop tracking control

摘要： 针对状态和控制输入有界的变参数广义二阶非线性系统跟踪控制问题，研究了一种双环鲁棒跟踪控制方法。通过引入虚拟跟踪器将系统分解为内外两个独立的子系统，外环虚拟控制器对输入全局渐近跟踪并生成内环虚拟输入，内环采用自适应控制方法实现对系统参数摄动、外部干扰及饱和超幅的鲁棒性，并保证对虚拟输入的指数收敛性。双环自适应跟踪控制能够满足状态和控制输入有界条件下,系统的跟踪精度和对不确定性的鲁棒性。与反演控制器相比，双环跟踪控制器的可靠性更高。航天器抓捕问题的数值仿真验证了方法的有效性。

关键词: 非线性系统, 自适应控制, 控制饱和, 双环跟踪控制