摘要
针对一类具有不确定性的非线性系统的输出调节问题,通过坐标变换将其转换为镇定问题,利用外系统信息设计出具有误差项的线性内模,引入非光滑分析理论和动态面法,结合Backstepping设计方法和Lyapunov法给出了状态反馈的非光滑控制器,避免了Backstepping设计方法中所存在的"虚拟控制必须为光滑函数"问题,所提出的控制器能够实现整个闭环系统的信号均一致最终有界且跟踪误差可以保证在预设的任意小范围内,数值仿真结果表明所提出的非光滑控制器的有效性。
Aiming at the output regulation problem of an nonlinear system, transformation of coordinates is adopted to convert that to a stabilization model. A linear internal model equation with error item is designed based on external system information. Nonsmooth analysis theory and dynamic surface method are introduced in, combining with Backstepping design method and Lyapunov method, to propose a nons- mooth state controller, so as to avoid the problem that virtual controls must be smooth function in Back- stepping design. The proposed nonsmooth controller can keep all signals in the closed-loop systems being uniform and ultimatly bounded with the tracking error arbitrary small. The simulation results verify the effectiveness of the proposed controller.
出处
《黑龙江大学自然科学学报》
CAS
北大核心
2017年第4期492-498,共7页
Journal of Natural Science of Heilongjiang University
基金
黑龙江省科技厅青年科学基金资助项目(QC2013C002)
黑龙江省教育厅科学技术研究资助项目(12510001)
