一类单控制方向已知的随机不确定二阶系统反演控制研究

The Backstepping Control of a Class of Random Uncertain Linear Second Order System with a Single Control Direction Known

针对于一类单控制方向已知的给定区间随机不确定二阶线性系统进行了反演控制研究,从反演控制原理说明反演控制的有效性,并且通过与PID控制方法进行仿真对比,说明了针对标称模型难以确定的随机分布被控系统,反演控制方法对模型参数在给定区间完全随机不确定的情况下有更强的鲁棒性。

Backstepping control method is researched for a class of linear second order system with a single known control direction and model parameters randomly chosen from a given interval. The effectiveness of backstepping method is proved by constructing a Lyapunov function and its control effect is compared with PID method. Simulation result shows that if the standard system model can not be acquired in advance,the backstepping control method has the stronger robustness than PID control for second order system with whole random model parameters chosen from a given interval.