输入无模型动态扰动非线性系统的反演控制

Backstepping control for Uncertain Nonlinear Systems with Input Unmodeled Dynamics

研究了输入无模型动态扰动的不确定非线性系统的全局镇定。基于控制李雅普诺夫函数,设计了反演控制律,利用自抗扰的思想,构建扩展状态观测器来处理输入无模型动态,仿真结果验证了本方法的有效性。文章提出的控制方法适用于很多非线性系统。

The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties（input unmodeled dynamics） was considered. A backstepping control law was constructed from a control Lyapunov function（CLF）. In the control scheme, extend state observer based on active disturbance rejection ideal was designed to deal with the input unmodeled dynamics. The proposed control method was applicable to a wide class of nonlinear systems, meanwhile, the simulation result was presented to illustrate the effectiveness of the proposed control scheme.