多输入非线性系统后推(Backstepping)型(英)  

Backstepping Forms of Multi-Input Nonlinear Systems

作　　者：程代展[1] 洪奕光[1] 秦化淑[1] 

机构地区：[1]中国科学院系统科学研究所,北京100080

出　　处：《控制理论与应用》1998年第6期824-830,共7页Control Theory & Applications

摘　　要：对一类带不确定性的非线性系统，后推法提供了一个构造自适应和鲁棒控制器的递推程序．为了应用后推法，需要先将系统化成一定的型式（称为标准后推型）．对单输入系统标准后推型以及控制器的设计已得到充分的研究．本文研究了多输入系统的标准后推型及其控制器的设计．文中得到了分块标准后推型．它可根据一定的微分同胚变换由系统的结构唯一确定．最后，我们给出了相应的控制器设计方法．For a class of nonlinear systems with uncertainties the backstepping method[1,2]provides a recursive procedure to construct adaptive controllers or robust controllers includingnonlinear H∞ controllers. To apply these methods the systems should have certain forms. Forstatement ease we call those forms Canonical Backstepping Forms. For single-input systems thecanonical backstepping forms and the design of adaptive controllers via backstepping method arealready studied and well known[1]. The purpose of this paper is to investigate canonical backstepping forms of multi-input nonlinear systems. Block canonical forms are obtained. Then corresponding design methods of adaptive controls are presented.

关 键 词：后推法 多输入系统 分块标准型 自适应控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]