多输入非线性系统后推(Backstepping)型

Backstepping Forms of Multi-Input Nonlinear Systems

中文关键词  后推法  多输入系统  分块标准型  自适应控制

英文关键词  backstepping  multi-iniput system  block canonical form  adaptive control

中文摘要

      对一类带不确定性的非线性系统，后推法提供了一个构造自适应和鲁棒控制器的递推程序. 为了应用后推法，需要先将系统化成一定的型式（称为标准后推型）. 对单输入系统标准后推型以及控制器的设计已得到充分的研究. 本文研究了多输入系统的标准后推型及其控制器的设计. 文中得到了分块标准后推型. 它可根据一定的微分同胚变换由系统的结构唯一确定. 最后，我们给出了相应的控制器设计方法.

英文摘要

      For a class of nonlinear systems with uncertainties the ba，kstepping method[1，2] provides a recursive procedure to construct adaptive controllers or robust controllers including nonlinear H controllers. To apply these methods the systems should have certain forms. For statement ease we call those forms Canonical Backstepping Forms. For single-input systems the canonical backstepping forms and the design of adaptive controllers via backstepping method are already studied and well known[1]. The purpose of this paper is to investigate canonical backstep-ping forms of multi-input nonlinear systems. Block canonical forms are obtained. Then correspond-ing desien methods of adaptive controls are presented.