| 基于Backstepping 的非线性系统预设性能鲁棒控制器设计 |
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| 引用本文： | 陈明,张士勇.基于Backstepping 的非线性系统预设性能鲁棒控制器设计[J].控制与决策,2015,30(5):877-881. |
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| 作者姓名： | 陈明 张士勇 |
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| 作者单位： | 辽宁科技大学电子与信息工程学院,辽宁鞍山,114051 |
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| 摘 要： | 针对一类具有外界扰动的严格反馈非线性系统,将Backstepping技术、预设性能控制和鲁棒控制相结合,提出一种预设性能鲁棒控制器设计方法.通过误差转换,建立系统等效误差模型,利用Backstepping和鲁棒控制逐步递推选择适当的Lyapunov函数设计预设性能鲁棒控制器.该控制策略兼顾系统的暂态和稳态性能,仿真实例表明了所提出设计方法的有效性.
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| 关 键 词： | Backstepping 预设性能 鲁棒性 非线性 |
| 收稿时间： | 2014/3/5 0:00:00 |
| 修稿时间： | 2014/6/25 0:00:00 |
Prescribed performance robust controller design for nonlinear systems based on Backstepping |
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| CHEN Ming ZHANG Shi-yong.Prescribed performance robust controller design for nonlinear systems based on Backstepping[J].Control and Decision,2015,30(5):877-881. |
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| Authors: | CHEN Ming ZHANG Shi-yong |
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| Abstract: | By combining Backstepping technique, prescribed performance and robust control, a prescribed performance robust controller is investigated for a class of strict-feedback nonlinear systems with external disturbances. Firstly an equivalent error model is established by means of error transformation. The prescribed performance robust controller is designed step-by-step by choosing appropriate Lyapunov functions and utilizing Backstepping and robust control techniques. The transient and steady state performance is considered in the control strategy. The simulation results show the effectiveness of the proposed method. |
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| Keywords: | Backstepping prescribed performance robust nonlinear |
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