基于Backstepping的不确定非完整控制系统的镇定

Stabilization of Uncertain Nonholonomic Control System Based on Backstepping

非完整控制系统为本质上的非线性系统,线性控制策略对其显得无能为力.为此,把一种新颖的非线性控制方法———Backstepping应用于非完整控制系统的镇定.Backstepping以Lyapunov稳定为设计原则.系统的设计实现了系统全局指数镇定,同时具有良好的动静态性能和强的鲁棒性.最后对一定的不确定性给出了系统仿真,验证了系统设计的有效性.

Since nonholonomic control systems are nonlinear systems in essence, linear control strategies are unable to solve the control problems of nonholonomic control systems. Therefore,backstepping,a new nonlinear control method,is applied to the stabilization of nonholonomic control system. The design rules of backstepping are based on Lyapunov stabilization. In this paper the stabilization of uncertain nonholonomic control systems based on backstepping is realized. The control design not only makes the system globally exponentially stabilized, but also achieves good dynamic and static performance and robust performance. Furthermore, simulation with some uncertainty is given, which proves the efficiency of the control design.