【摘要】：針對一類具有不確定性的非線性系統(tǒng)的輸出調(diào)節(jié)問題,通過坐標(biāo)變換將其轉(zhuǎn)換為鎮(zhèn)定問題,利用外系統(tǒng)信息設(shè)計出具有誤差項的線性內(nèi)模,引入非光滑分析理論和動態(tài)面法,結(jié)合Backstepping設(shè)計方法和Lyapunov法給出了狀態(tài)反饋的非光滑控制器,避免了Backstepping設(shè)計方法中所存在的"虛擬控制必須為光滑函數(shù)"問題,所提出的控制器能夠?qū)崿F(xiàn)整個閉環(huán)系統(tǒng)的信號均一致最終有界且跟蹤誤差可以保證在預(yù)設(shè)的任意小范圍內(nèi),數(shù)值仿真結(jié)果表明所提出的非光滑控制器的有效性。
[Abstract]:For a class of nonlinear systems with uncertainty, the output regulation problem is transformed into a stabilization problem by coordinate transformation. A linear internal model with error term is designed by using the information of the external system. The non-smooth analysis theory and the dynamic surface method are introduced. Combined with Backstepping design method and Lyapunov method, a non-smooth controller with state feedback is given, which avoids the problem that virtual control must be a smooth function in Backstepping design method. The proposed controller can realize that the signals of the closed-loop system are uniformly and ultimately bounded, and the tracking error can be guaranteed to be within any given small range. The numerical simulation results show the effectiveness of the proposed non-smooth controller.
【作者單位】： 北京交通大學(xué)機(jī)械與電子控制工程學(xué)院;哈爾濱理工大學(xué)理學(xué)院;
【基金】：黑龍江省科技廳青年科學(xué)基金資助項目(QC2013C002) 黑龍江省教育廳科學(xué)技術(shù)研究資助項目(12510001)
【分類號】：O231.2
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本文編號：2234932