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基于Backstepping的非线性系统预设性能鲁棒控制器设计

DOI: 10.13195/j.kzyjc.2014.0300, PP. 877-881

Keywords: Backstepping,预设性能,鲁棒性,非线性

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Abstract:

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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