摘要
针对一类模型结构为非下三角的欠驱动系统,在反步法的框架下研究了其非线性输出跟踪控制问题.鉴于在此类欠驱动系统的反步法设计中,沿用一般下三角系统的偏差难以镇定全部的偏差动态,由此引入了"联系函数"的概念.在反步法设计中,构造了异于下三角系统的偏差,设计了状态反馈跟踪控制器,保证了系统偏差的全局一致渐近稳定性.仿真结果表明该设计方法是有效的.
Nonlinear output tracking control problem for a class of non-triangular underactuated systems is discussed by backstepping method. For the non-triangular underactuated systems, if errors in the backstepping design procedure are defined the same as errors of lower triangular systems, not all the error dynamics are able to be stabilized. Therefore, the concept of contact function is introduced. Then errors in the backstepping design procedure are constructed differently from errors of lower-triangular systems. State feedback tracking control controller are designed to guarantee that system errors are globally asymptotically stable. Simulation results show the effectiveness of the proposed design method.
出处
《控制与决策》
EI
CSCD
北大核心
2011年第6期953-956,共4页
Control and Decision
基金
教育部高校博上学科点专项科研基金项目(20060183006)
吉林大学985工程研究生创新基金项目(20080212)
关键词
非线性控制
欠驱动系统
反步法
球杆系统
nonlinear control
underactuated systems
backstepping
ball and beam
