中文摘要：

针对一类在线性外系统驱动下的不确定三角结构高次非线性系统的输出调节问题，提出了一种自适应动态面鲁棒输出调节方法。根据输出调节问题的可解条件，将该问题转化为三角结构高次非线性系统的镇定问题。在此基础上，前n-1步采用自适应增加幂次积分方法设计期望虚拟控制律；第n步引入具有误差的内模方程，通过有效地结合自适应增加幂次积分方法和内模控制，设计出鲁棒输出调节控制器。在每一步递推中，通过采用动态面控制思想引入一个低通滤波器，克服了对期望虚拟控制律的微分。最后，通过数值仿真实例验证了所提控制方案的有效性。

英文摘要：

A kind of adaptive dynamic surface robust output regulation method is proposed for a class of uncertain high-order nonlinear systems with triangular structure driven by a linear exosystem. The output regulation problem of high-order nonlinear systems is transformed into a stabilization problem according to the necessary condition of output regulation problems for nonlinear systems. In the preceding n-1steps, an adaptive adding a power integrator is used to design the expected virtual controller. In the nth step, a robust output regulation controller is designed by combining the adaptive adding a power integrator and internal model control. In each recursive step, by using the dynamic surface control, a low pass filter is introduced to avoid differential to the expected virtual controller. A simulation example shows the effectiveness of the proposed scheme.