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针对一类二阶非线性不确定系统提出了一种新的控制方法,即带有灰色补偿的Backstepping控制,该方法分为两个阶段进行。第一阶段采用Backstepping控制方法进行控制,对不确定部分的模型参数进行估计。第二阶段经过N步参数估计之后,在上述控制律基础上,按估计参数加上补偿控制,构成带有灰色补偿的Backstepping控制。该方法解决了非线性不确定系统的Backstepping控制问题。该方法不仅能精确估计出系统的不确定参数,而且经过补偿的控制器使系统的性能大为改善,并增强了系统的鲁棒性。仿真结果表明了该方法的有效性。
A new control method for a class of second-order nonlinear uncertain systems is proposed, which is Backstepping control with gray compensation. The method is divided into two stages. The first stage is controlled by the Backstepping control method, and the model parameters of the uncertain part are estimated. After the second stage of N-step parameter estimation, based on the above control law, add the compensation control according to the estimated parameters to form Backstepping control with gray compensation. The method solves the Backstepping control problem of nonlinear uncertain systems. This method can not only estimate the uncertain parameters of the system accurately, but also the compensated controller can greatly improve the system performance and enhance the system robustness. Simulation results show the effectiveness of the method.