Cascade control with active compensation for a class of uncertain nonlinear system
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摘要: 針對一類具有下三角結構的單輸入單輸出不確定非線性系統,研究其穩定控制問題.提出一種結構簡單、收斂速度可控以及抗擾性能良好的基于Backstepping方法的串級主動補償控制策略,實現了閉環系統的漸近穩定控制.為解決閉環系統中不確定非線性未知問題,設計一種新的觀測器,使得這種觀測器能夠實時跟蹤閉環系統的不確定非線性.通過引入奇異擾動性理論,給出了閉環系統穩定性分析.仿真實驗結果驗證了該控制方法的有效性.Abstract: Stability control for a class of single-input single-output (SISO) uncertain nonlinear system with lower triangular structure was studied. Cascade control with active compensation based on the backstepping approach was proposed. The designed controller, with the characteristics of simple structure, controlled convergence rate and good robustness, achieves the asymptotic stability of a closed-loop system. To solve the uncertainty of the closed-loop system, a new observer was designed to track the uncertainty in time. The stability of the closed-loop system is proved by introducing the singular perturbation theory. Simulation results show the effectiveness of the control method.
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Key words:
- nonlinear systems /
- asymptotic stability /
- observers /
- singularly perturbed systems /
- cascade control
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