一类控制系数未知非线性参数化系统的输出反馈实际跟踪控制

Practical tracking by output feedback for a class of nonlinearly parameterized systems with unknown control coefficients

研究了一类控制系数未知的非线性参数化系统的输出反馈实际跟踪控制问题。通过引入适当的坐标变换,将原始系统转换成不带有控制系数的新系统。为新系统设计了合理的高增益观测器,进而利用反推技术,设计了输出反馈跟踪控制器。仿真结果表明,通过选择合适的设计参数,所设计的输出反馈跟踪控制器可以保证系统所有的状态全局有界,并且当时间足够大时,跟踪误差收敛到零点的既定小领域内。

The practical tracking control by output feedback was considered for a class of nonlinearly parameterized sys tems with unknown control coefficients. By introducing the appropriate coordinate transformation, the original system was transformed into a new system without uncertain control coefficients. Then, a suitable high-gain observer was con structed and the tracking controller by output feedback was successfully designed using the backstepping technique. The simulation result showed that if the design parameters were chosen suitably, the designed controller guaranteed the closed-loop system states to be globally bounded, and the tracking error to converge to the prescribed small neighbor hood of the origin after enough long time.