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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.
For a class of single input single output uncertain nonlinear systems with a lower triangular structure, the stability control problem is studied. A cascade active compensation control strategy based on Backstepping method with simple structure, controllable convergence speed and good anti-disturbance performance is proposed. , The asymptotic stability control of the closed-loop system is realized. In order to solve the uncertain nonlinear uncertain problem in the closed-loop system, a new observer is designed to make the observer track the uncertain nonlinearity of the closed-loop system in real time. Perturbation theory, the stability analysis of closed-loop system is given.The simulation results verify the effectiveness of this control method.