摘要
介绍了逆最优控制的基本思想 ,针对一类具有未知定常参数和未知时变有界扰动的严格反馈非线性系统 ,给出了逆最优增益配置定理 .使用Backstepping算法 ,设计了逆最优控制器 .该控制器是非线性的、连续的 ,且比较容易实现 ,仿真结果表明该控制算法的有效性 .同时指出逆最优控制系统具有稳定裕度 ,因而具有局域鲁棒性 。
This paper introduces the basic idea of inverse optimal control and gives the solvable theorem of inverse optimal gain assignment problem. By means of an adaptive backstepping algorithm for strict feedback nonlinear continuous systems with unknown time varing bounded disturbances and constant unknown parameters, an inverse optimal controller is designed, which is nonlinear, continuous and easier to realize. The results of simulation show the effectiveness of the control algorithms. The paper shows simultaneously that inverse optimal systems yield stability margins, namely, achieving locally robustness, which are a nonlinear analog of Kalman's margins for the linear quadratic regulator.
