论文部分内容阅读
为了简化逆推设计,拓宽其适用对象,证明了一类非线性系统的渐近稳定性,并将这类系统作为控制器设计的目标,提出了逆推和直接构造2种设计方法。其中逆推法适用于一般的下三角对象,较之于已有的逆推设计方法,可引入更多的设计参数;不需要构造Liapunov函数,或只需对部分子系统构造Liapunov函数,从而简化了设计。对一些特殊的下三角对象,采用直接构造法,可使设计过程和控制器结构进一步简化;直接构造法还可应用于某些逆推法不适用的对象。算例证实了本文设计方法的有效性。
In order to simplify the design of backstepping and broaden its applicability, the asymptotic stability of a class of nonlinear systems is proved. Two types of design methods of backstepping and direct structuring are proposed by using such systems as the goal of controller design. Among them, the inverse push method is suitable for the general lower triangular object, which can introduce more design parameters than the existing inverse push design method. It does not need to construct Liapunov function or only Liapunov function can be simplified for some subsystems. Design. For some special lower triangular objects, the direct construction method can be used to further simplify the design process and the controller structure. The direct construction method can also be applied to some objects that are not applicable to the inverse method. The example confirms the effectiveness of this design method.