基于Backstepping方法的非线性控制技术及其应用  

Nonlinear Control Technology and Application With Backstepping

作　　者：黄兴李[1] 朱纪洪[1] 贾培发[1] 

机构地区：[1]清华大学计算机系智能技术与系统国家重点实验室

出　　处：《航天控制》2008年第3期35-38,共4页Aerospace Control

摘　　要：基于Backstepping方法的设计思想,讨论了一类级联仿射非线性系统的控制问题,即先通过顺序递推的方式构造出非线性系统的李雅普诺夫函数,然后采用反向回溯求解的方式最终得出相应的非线性控制律,得出了一个一般性的设计结果,并且还进一步分析了李雅普诺夫函数中相关参数的选取方法,把它应用到空空导弹的纵向通道自动驾驶仪的设计中,仿真结果表明,通过选择合适的参数,该控制律能够很好地跟踪阶跃指令。Based on the Backstepping method, the control of a cascade affine nonlinear system is discussed in this paper. The Lyapunove function of a nonlinear system is constructed via ordinal recursion and then the nonlinear control law is obtained via backstepping solution. A general result is obtained. More over, the parameter selecting method of the Lyapunove function is also analyzed. Then it is applied to the longitudinal automatic pilot design of air to air missile. The simulation results show that the control law can track the stepped command very well via selecting the suitable parameters.

关 键 词：BACKSTEPPING 级联 非线性控制 空空导弹 

分 类 号：O231.2[理学—运筹学与控制论] V448.22[理学—数学]