不确定严格反馈非线性系统的鲁棒控制

ROBUST CONTROL OF MULTI INPUT CASCADE NONLINEAR SYSTEMS WITH UNMODELLED DYBAMICS

本文对一大类含有未建模动态的多输入严格反馈非线性系统 ,基于 backstepping递推设计方法 ,进行了状态反馈控制设计 .得到的闭环系统的状态和控制是全局有界的 ,并且闭环系统的轨线收敛到状态空间的一个残集 .

In this paper, state feedback control design for multi-input cascade nonlinear systems with unmodelled dynamics is given, based on backstepping recursive design method. The control and the states of the resulting closed loop system are globally bounded, and the states of the resulting closed-loop system can converge to a residual set.