一类不确定非线性系统的事件驱动命令滤波反步控制

Event-triggered and command-filter-based backstepping control for a class of uncertainty nonlinear systems

研究一类具有严格反馈的不确定非线性系统跟踪控制问题.与现有通过自适应神经网络等技术处理系统中未知动态不同,利用命令滤波器处理系统中的不确定函数.基于反步法原理构造虚拟控制律,并通过设计辅助方程解决真实控制律构造困难的问题.通过引入事件驱动机制,在确保系统稳定性的同时降低系统控制律更新频率.最后通过仿真算例验证了所提出命令滤波反步控制策略的有效性.

The tracking control problem for a class of uncertainty nonlinear systems with strictly feedback is studied.Different from existing researches that using the adaptive neural network technology to handle the unknown functions,this paper introduces command filters to deal with the system uncertainty. Virtual control signals are designed via backstepping and an auxiliary equation is designed to construct the final control function. And then, the event trigger mechanism which can guarantee the system stability is used to decrease the update frequency of the input signal. Finally,a simulation case is given to illustrate the effectiveness of the proposed event triggered backstepping control scheme.