自适应反演控制在一类非线性系统中的应用

Adaptive backstepping-based control and application research on uncertain nonlinear systems

针对一类不确定性上界未知的非线性系统,提出一种自适应反演控制方法.建立了一类带有外界扰动的不确定非线性系统的数学模型.将复杂的非线性系统分解成不超过系统阶数的子系统,采用反演思想,并用自适应更新律对非线性系统不确定性上界进行估计,设计了自适应反演控制器并证明了李亚普诺夫稳定性.采用所设计的控制律使非线性系统的输出能跟踪期望的轨迹,具有一定的鲁棒性.用数值仿真验证了所设计控制器的良好跟踪性能.

An adaptive backstepping-based control method is proposed for a class of uncertain nonlinear systems.Firstly,the model of nonlinear systems is developed based on deep space detection.The complex nonlinear system is decomposed into subsystems whose order numbers are less than the original system.The whole control law is designed through regression method. An adaptive backstepping-based control is proposed while the upper bound of the uncertanties is estimated,and Lyapunov stable is proved.The outputs of uncertain nonlinear systems can fast and accurate track the expected trajectories through the proposed control algorithms.Numerical simulations are included to illustrate the spacecraft performance obtained using the proposed controller.