一类不确定非线性系统的串级主动补偿控制

针对一类具有下三角结构的单输入单输出不确定非线性系统,研究其稳定控制问题.提出一种结构简单、收敛速度可控以及抗扰性能良好的基于Backstepping方法的串级主动补偿控制策略,实现了闭环系统的渐近稳定控制.为解决闭环系统中不确定非线性未知问题,设计一种新的观测器,使得这种观测器能够实时跟踪闭环系统的不确定非线性.通过引入奇异扰动性理论,给出了闭环系统稳定性分析.仿真实验结果验证了该控制方法的有效性. 

Cascade control with active compensation for a class of uncertain nonlinear system

Stability control for a class of single-input single-output (SISO) uncertain nonlinear system with lower triangular structure was studied. Cascade control with active compensation based on the backstepping approach was proposed. The designed controller, with the characteristics of simple structure, controlled convergence rate and good robustness, achieves the asymptotic stability of a closed-loop system. To solve the uncertainty of the closed-loop system, a new observer was designed to track the uncertainty in time. The stability of the closed-loop system is proved by introducing the singular perturbation theory. Simulation results show the effectiveness of the control method.