| 引用本文: | 刘勇华.一类纯反馈非线性系统的动态面控制[J].控制理论与应用,2014,31(9):1262~1267.[点击复制] |
| LIU Yong-hua.Dynamic surface control for pure-feedback nonlinear systems[J].Control Theory and Technology,2014,31(9):1262~1267.[点击复制] |
|
| 一类纯反馈非线性系统的动态面控制 |
| Dynamic surface control for pure-feedback nonlinear systems |
| 摘要点击 3179 全文点击 2524 投稿时间：2013-10-22 修订日期：2014-03-29 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2014.31101 |
| 2014,31(9):1262-1267 |
| 中文关键词 纯反馈非线性系统 非线性系统 动态面控制 反推设计 |
| 英文关键词 pure-feedback nonlinear systems nonlinear systems dynamic surface control backstepping |
| 基金项目 教育部“创新团队发展计划”资助项目(IRT1242). |
|
| 中文摘要 |
| 针对一类非仿射输入纯反馈非线性系统, 提出了一种动态面控制算法. 不同于运用中值定理, 该算法通过引入 一个辅助系统, 将原系统转化为输入仿射系统, 结合动态面控制与反推设计法, 消除了反推法中“计算膨胀”问题. 所设 计控制器保证了闭环系统所有信号半全局一致最终有界, 且通过选择合适的设计参数可使跟踪误差收敛到原点的一个 小邻域内. 一个仿真实例进一步验证了所提控制算法的有效性. |
| 英文摘要 |
| We propose a dynamic surface control scheme for nonaffine-in-control pure-feedback nonlinear systems. Instead of using the mean value theorem, the original system can be transformed into an affine-in-control system by in- troducing an auxiliary system. By incorporating the dynamic surface control technique and backstepping approach in the proposed algorithm, we can eliminate the ”explosion of complexity” problem inherent in the backstepping design. The pro- posed controller ensures the semi-global uniformly ultimately boundedness for all the closed loop signals, with the tracking error converging to a small neighborhood of the origin by appropriately choosing design parameters. A numerical example is further presented to demonstrate the effectiveness of the proposed algorithm. |