基于backstepping的一类多输入非线性系统的控制设计  

Control Design for a Class of Nonlinear Systems with Multi-Input Based on Backstepping

作　　者：王银河[1] 史永杰[1] 

机构地区：[1]汕头大学数学系,广东汕头515063

出　　处：《汕头大学学报（自然科学版）》2007年第2期11-17,共7页Journal of Shantou University：Natural Science Edition

基　　金：广东省自然科学基金资助项目(No:032035)

摘　　要：基于backstepping设计方法,讨论一类非线性系统的状态反馈镇定问题.针对这类非线性系统的特殊情形,运用backstepping方法,先设计其具有严格三角结构形式的嵌入子系统的控制器,进而推出整个系统的控制器,并利用Lyapunov方法证明所设计的控制器能使整个系统是渐近稳定的.最后通过实例验证了结果的正确性.The state-feedback stabilization was discussed for a class of nonlinear systems with multi-input based on baekstepping in this paper. Firstly, for the special form of this class of nonlinear systems, the controller for the imbedding sub-system with strict triangular structure form was designed by using baekstepping method, and then the controller was proposed for the entire systems. Secondly, it was proved that the controller in this paper made the entire systems asymptotieal stability. Finally, the simulation of an example showed the validity of results in this paper.

关 键 词：非线性系统 BACKSTEPPING 状态反馈 LYAPUNOV方法 渐近稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]