非线性级联控制系统自适应设计与应用

Adaptive Stabilization for Cascade nonlinear systems

运用反向步进和控制李亚普诺夫函数方法来对某种带未知有界扰动的级联非线性系统进行自适应控制器设计,使之达到输入状态稳定。运用更新法则来估计未知有界扰动,它只需要较少未知扰动信息,且可作为镇定控制的一部分。通过这种设计方法,系统可获得理想的全局鲁棒稳定性。在这里,通过一个带扰动的单摆实例来验证我们的理论。

We focus our attention on using backstepping and control Lypunov Function(CLE)techniques to design and adaptive controller of full state feedback for certain cascade nonlinear systems achieving ainput-to-state stability with respect to unknown bounded disturbance.We show that unknown bounded disturbance can be estimated by update laws,which requires less information on unknown disturbance,as a part of stabilizing control.The design method achieves the desired property:global robust stability.Our contribution is illustrated with the example of a disturbed pendulum.