摘要
针对一类控制方向未知、具有三角结构的非线性系统,通过将变结构控制方法与Backstepping控制方法相结合,提出了这类非线性系统全局鲁棒控制的系统设计方法.在设计过程中,利用Backstepping控制方法给出了鲁棒控制器的设计过程;然后通过定义变结构控制的切换条件来纠正控制律的控制方向.从理论上证明了设计的鲁棒控制器能够保证闭环系统的所有状态有界.仿真结果表明了该方法的有效性.
By incorporating the technique of variable structure control （VSC） into the backstepping approach, a systematic procedure was proposed for the design of globally robust controller of a class of nonlinear system with unknown control directions and triangular structure. In the course of design, the procedure of the robust controller design was firstly developed via backstepping approach; then, the control directions were rectified by defining the switching conditions of the VSC. It was found that the presented robust controller can guarantee the boundedness of all states in the closed-loop system. The simulation resuits demonstrated the effectiveness of the presented method.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2006年第2期230-232,共3页
Journal of Zhejiang University：Engineering Science
基金
教育部回国留学人员基金资助项目
教育部"跨世纪优秀人才培养计划"基金资助项目(教技函2002)
关键词
鲁棒控制
非线性系统
变结构控制
不确定系统
robust control
nonlinear system
control of variable structure
uncertain system
