一类量化非线性系统的指令滤波反推控制器设计及其在车辆悬挂系统中的应用

Command filtered backstepping controller for a class of quantized nonlinear systems and its application in suspension system

针对1类具有量化输入信号的非线性系统,设计了其指令滤波反推控制器,并利用Lyapunov稳定性理论,分析了闭环系统的稳定性,证明了指令滤波反推控制器能够有效地简化积分反推控制器设计时对虚拟控制求偏导的计算,特别是当系统的阶数比较高时,优势会更加明显,表明指令滤波反推控制器比积分反推控制器更适用于实际控制系统。最后,将理论分析结果应用于车辆的主动悬挂控制系统,并进行仿真验证,实验结果验证了本文所提控制算法的有效性。

In this paper, a command filtered backstepping controller is designed for a class of nonlinear system with quantized in-put signal, and the stability of the closed-loop system is analyzed based on Lyapunov theory. The command filtered backstepping controller can effectively simplify the calculation of partial derivative for the virtual control in the integral backstepping controller. Thus？ it is more suitable to the integral backstepping controller in the actual control system, and this advantage will be more ob-vious especially when the system order is high. Finally, theoretical results are applied to the vehicle active suspension control sys-tem, and the simulation results show the effectiveness of the proposed control algorithm.