基于非光滑控制的一类不确定非线性系统的输出调节
发布时间：2018-09-10 16:03
【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。
[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.
【作者单位】： 北京交通大学机械与电子控制工程学院;哈尔滨理工大学理学院;
【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)
【分类号】：O231.2
，
本文编号：2234932
[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.
【作者单位】： 北京交通大学机械与电子控制工程学院;哈尔滨理工大学理学院;
【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)
【分类号】：O231.2
，
本文编号：2234932
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