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针对一类不确定非仿射非线性系统的跟踪控制问题,提出一种鲁棒Backstepping控制策略.首先,为利用仿射非线性方法设计控制器,给出一种适用于全局的非仿射非线性近似方法;然后,设计快速收敛非线性微分器以估计复合干扰和获取虚拟信号的微分,进而给出不确定非仿射非线性系统的复合控制器,其中鲁棒项和阻尼项分别用于减少逼近误差和近似方法中动态误差对系统跟踪的影响;最后,通过仿真实验验证了所提出方法的有效性.
Aiming at the tracking control problem for a class of uncertain non-affine nonlinear systems, a robust Backstepping control strategy is proposed.Firstly, in order to design a controller using affine nonlinear methods, a global non-affine non- Then, a fast convergent nonlinear differentiator is designed to estimate the compound interference and obtain the differential of the virtual signal, then the compound controller of the uncertain non-affine nonlinear system is given. The robust and damping terms are used respectively Reduce the influence of dynamic error on the tracking of the system by approximation error and approximation method. Finally, the effectiveness of the proposed method is verified by simulation experiments.