一类纯反馈非线性系统的动态面控制

Dynamic surface control for pure-feedback nonlinear systems

中文关键词  纯反馈非线性系统  非线性系统  动态面控制  反推设计

英文关键词  pure-feedback nonlinear systems  nonlinear systems  dynamic surface control  backstepping

中文摘要

      针对一类非仿射输入纯反馈非线性系统, 提出了一种动态面控制算法. 不同于运用中值定理, 该算法通过引入 一个辅助系统, 将原系统转化为输入仿射系统, 结合动态面控制与反推设计法, 消除了反推法中“计算膨胀”问题. 所设 计控制器保证了闭环系统所有信号半全局一致最终有界, 且通过选择合适的设计参数可使跟踪误差收敛到原点的一个 小邻域内. 一个仿真实例进一步验证了所提控制算法的有效性.

英文摘要

      We propose a dynamic surface control scheme for nonaffine-in-control pure-feedback nonlinear systems. Instead of using the mean value theorem, the original system can be transformed into an affine-in-control system by in- troducing an auxiliary system. By incorporating the dynamic surface control technique and backstepping approach in the proposed algorithm, we can eliminate the ”explosion of complexity” problem inherent in the backstepping design. The pro- posed controller ensures the semi-global uniformly ultimately boundedness for all the closed loop signals, with the tracking error converging to a small neighborhood of the origin by appropriately choosing design parameters. A numerical example is further presented to demonstrate the effectiveness of the proposed algorithm.