基于Backstepping的非仿射非线性系统鲁棒控制  

Robust control for nonaffine nonlinear systems based on Backstepping

作　　者：张强[1,2] 吴庆宪[1] 姜长生[1] 王玉惠[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]济南大学自动化与电气工程学院,济南250022

出　　处：《控制与决策》2014年第1期19-26,共8页Control and Decision

基　　金：国家自然科学基金项目(90716028;91116017;11102080);中央高校基本科研业务费专项资金项目(NS2010 077;NP2011049);山东省自然科学青年基金项目(ZR2012FQ030)

摘　　要：针对一类不确定非仿射非线性系统的跟踪控制问题,提出一种鲁棒Backstepping控制策略.首先,为利用仿射非线性方法设计控制器,给出一种适用于全局的非仿射非线性近似方法;然后,设计快速收敛非线性微分器以估计复合干扰和获取虚拟信号的微分,进而给出不确定非仿射非线性系统的复合控制器,其中鲁棒项和阻尼项分别用于减少逼近误差和近似方法中动态误差对系统跟踪的影响;最后,通过仿真实验验证了所提出方法的有效性.A robust Backstepping control strategy is proposed for a class of uncertain nonaffine nonlinear systems. Firstly, a global approximation method is given for uncertain nonaffine nonlinear systems, aiming to design the controller by using affine nonlinear methods. Then, a fast convergence nonlinear differentiator is designed in order to get the differential value of virtual signal and approximate unknown compound disturbances in the uncertain systems. Furthermove, the composite controller structure based on the above design is proposed, in which the robust terms and nonlinear damping term can offset the impact of the approximation errors. Finally, the simulation results show the effectiveness of the proposed method.

关 键 词：非仿射非线性系统 BACKSTEPPING 鲁棒控制 非线性微分器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]