反步法在非线性控制中的应用  

Backstepping method and the application in nonlinear control

作　　者：孙玮[1] 崔冉[2] 伊静[1] 王忠[1] 

机构地区：[1]山东建筑大学计算机科学与技术学院,山东济南250101 [2]山东电力工程咨询院,山东济南250014

出　　处：《山东建筑大学学报》2007年第3期243-246,共4页Journal of Shandong Jianzhu University

基　　金：国家自然科学基金项目(69974068)

摘　　要：针对一类严参数反馈系统或经过变换可化为该种类型的非线性系统,基于反步(backstepping)递推设计方法,进行了自适应控制的设计。在此过程中,获得了对参数进行修正的规则。应用Lyapunov稳定性理论证明,该自适应控制器可保证整个非线性系统的鲁棒稳定性。和有关文献中提出的设计自适应控制器所应用的方法相比,反步法引进了虚拟控制的概念,通过适当的引入虚拟控制,使得系统误差具有期望的渐近形态,从而实现整个系统的渐近镇定。Based on backstepping design technique, this paper presents a design approach to adaptive controllers for strict parameter feedback system or this type of acquired nonlinear system after transformation. In the nonlinear approaches, the rule for updating the parameters is obtained. Using the Lyapunov stability theory, it is shown that the proposed adaptive control scheme guarantees the stability of the nonlinear system. Compared with the approach for designing adaptive controllers reported in the related literature, backstepping introduces virtual control. The error of this system possesses anticipanted asymptotic property by appropriate introduction of virtual control, which can realize asymptotic equanimity of this system.

关 键 词：自适应 非线性系统 反步法 虚拟控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]