非匹配不确定系统的显式反步变结构控制

Explicit backstepping variable structure control of mismatched uncertain systems

研究非线性多输入多输出不确定系统在非匹配条件下的鲁棒输出跟踪问题。基于相对阶的假设 ,给出了多输入多输出不确定系统的标准型 ;进而结合反步设计方法和变结构控制方法 ,提出一种非匹配条件下非线性不确定系统鲁棒输出跟踪问题的显式反步变结构控制器设计方法。所给跟踪算法不仅只由不确定性的变化范围直接确定 。

The robust output tracking problem of nonlinear multi input multi output (MIMO) uncertain systems under mismatched conditions is discussed. The canonical form for nonlinear MIMO uncertain systems is developed under the mild relative degree assumptions. By using the backstepping design and variable structure control approaches, an explicit backstepping variable structure controller is designed for the robust output tracking problem of such systems. The given algorithm is directly determined by theboundsofuncertainties,andeffectivelyovercomesthedifficultyofexistingbacksteppingbased algorithmsinrealtimeimplementationduetotheimplicitrecursionandcomplexpartialderivative calculations.