摘要
Backstepping设计方法是针对不确定性系统的一种系统化的控制器综合方法,是将Lyapunov函数的选取与控制器的设计相结合的一种回归设计方法。它通过从系统的最低阶次微分方程开始,引入虚拟控制的概念,一步一步设计满足要求的虚拟控制,最终设计出真正的控制律。本文介绍了Backstepping设计方法在线性系统和非线性系统中的具体实现,并对它的应用做了简单的综合介绍。
The Backstepping design technique, which aiming at the uncertainty system, is a kind of systematic synthetic technique to controller; it is a recursive procedure that combines the choice of a Lyapunov function with the design of feedback control. The Backstepping design technique starts from the differential equation in its smallest order of the system, it introduces the concept of virtual controland designs the satisfied virtual control step by step, and the real control can be gotten in the end. This paper addresses the Backstepping technique both in linear control system and in nonlinear control system. It also introduces the application of this technique simply in the end of this paper.
出处
《自动化博览》
2004年第6期57-61,共5页
Automation Panorama1
基金
国家自然科学基金资助项目(60274056)
