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针对一类严格反馈非线性时滞系统,采用反推(backstepping)技术,提出了一种状态反馈跟踪控制器的设计方案.采用占有(domination)方法处理系统的非线性时滞函数.在系统非线性函数满足Lipschitz条件的假设下,实现对给定参考信号的全局渐近跟踪,并保证了闭环系统所有信号一致有界.通过构建一个Lyapunov-Krasoviskii泛函,证明了闭环系统的稳定性.最后,通过一个仿真实例说明了所提方案的可行性.
For a class of strictly nonlinear systems with time-delay feedback, a backstepping technique is proposed to design a state feedback tracking controller. The domination method is used to deal with the nonlinear delay function of the system. Under the assumption that the linear function satisfies the Lipschitz condition, the global asymptotic tracking of a given reference signal is achieved, and all the signals in the closed-loop system are guaranteed to be uniformly bounded. By constructing a Lyapunov-Krasoviskii functional, the stability of the closed-loop system is proved. , Through a simulation example illustrates the feasibility of the proposed program.