有限时间Back-Stepping动态面控制

针对一类具有外干扰和建模误差的n阶非线性系统提出一种有限时间Back-stepping动态面控制.在动态面控制方法的子系统控制器设计中设计一个快速有限时间收敛的非线性滤波器,以代替一阶线性滤波器.该方法可避免"计算膨胀",降低高阶系统的误差积累,同时可避免高阶系统有限时间控制难以解决的奇异性问题.针对动态面控制稳定性分析中未将估计误差考虑在内的不足,将其一并考虑,并证明了其稳定性,给出稳态控制误差.最后结合四旋翼飞行器位置控制系统仿真验证了其工程的实用性和优越性.

A Finite-Time Back-Stepping Dynamic Surface Control

A finite time back-stepping dynamic surface control was proposed for n-order nonlinear systems with external disturbances and modeling errors. In the subsystem controller design of the dynamic surface control method, a nonlinear filter with fast finite time convergence was designed to replace the first order linear filter. This method can avoid "explosion of terms", reduce the error accumulation of high order system, and at the same time can avoid the singularity problem that is difficult to solve in high order system of finite time control. In order to solve the problem that the estimation error was not taken into account in the stability analysis of dynamic surface control, the stability of the estimation error was considered, and the steady-state control error was given. Finally, combining with the position control of the four-rotor aircraft, the simulation verifies its engineering practicability and superiority.