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基于Backstepping的非线性系统预设性能鲁棒控制器设计 被引量：19

Prescribed performance robust controller design for nonlinear systems based on Backstepping
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摘要 针对一类具有外界扰动的严格反馈非线性系统,将Backstepping技术、预设性能控制和鲁棒控制相结合,提出一种预设性能鲁棒控制器设计方法.通过误差转换,建立系统等效误差模型,利用Backstepping和鲁棒控制逐步递推选择适当的Lyapunov函数设计预设性能鲁棒控制器.该控制策略兼顾系统的暂态和稳态性能,仿真实例表明了所提出设计方法的有效性. By combining Backstepping technique, prescribed performance and robust control, a prescribed performance robust controller is investigated for a class of strict-feedback nonlinear systems with external disturbances. Firstly an equivalent error model is established by means of error transformation. The prescribed performance robust controller is designed step-by-step by choosing appropriate Lyapunov functions and utilizing Backstepping and robust control techniques. The transient and steady state performance is considered in the control strategy. The simulation results show the effectiveness of the proposed method.
作者 陈明 张士勇
机构地区 辽宁科技大学电子与信息工程学院
出处 《控制与决策》 EI CSCD 北大核心 2015年第5期877-881,共5页 Control and Decision
基金 国家自然科学基金项目(61403177)
关键词 Backstepping:预设性能 鲁棒性 非线性 Backstepping prescribed performance robust nonlinear
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
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参考文献11

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二级参考文献14

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共引文献9

同被引文献151

引证文献19

二级引证文献104

控制与决策
2015年 第5期

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