不确定非线性控制系统的反演递推设计  

Backstepping Design for Nonlinear Control System with Uncertainties

作　　者：贾庆忠[1] 刘永善[1] 刘藻珍[1] 

机构地区：[1]北京理工大学机电工程学院,中国北京100081

出　　处：《系统仿真学报》2007年第21期5002-5007,5019,共7页Journal of System Simulation

摘　　要：针对一般不确定非线性严反馈系统的稳定和跟踪两个基本问题,提出并证明了系统控制律直接反演设计的递推公式。针对反演递推方法存在的"运算膨胀"问题,提出采用高增益反馈抑止虚拟输入微分项的方法来简化设计,并给出高增益反演设计的递推公式。通过仿真实例说明了结论的正确性、鲁棒性和有效性。Accounting for the stabilization and tracking of general nonlinear strict-feedback system with uncertainties, some recursive formulas for direct design of backstepping control laws were proposed and proved. To deal with the problem of extreme expanded operation quantity of backstepping method, a method of simplifying design by using high-gain feedback to dominate differential items of virtual inputs was introduced, And some recursive formulas based on high-gain backstepping design were proposed. The simulation results show the effectiveness of these methods.

关 键 词：非线性系统 反演递推 不确定系统 严反馈系统 高增益反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]