非线性递推控制TORA系统

摘要

The TORA system model is transformed to a feedback cascade model with the partial feedback linearization and a global coordinate change .A two-steps recursive backstepping algorithm is proposed for the TORA system to obtain a nonlinear con-troller .During the design process ,the system stability is guaranteed with the Lyapunov theory .The simulation results show the TO-RA system under any initial states is globally asymptotically stable to its origin .%针对欠驱动系统TORA ，通过部分反馈线性化和全局坐标变换，得到系统的非线性反馈级联模型。为TORA系统提出了一种两步递推反步设计方法，得到系统的非线性控制器。设计过程中利用李雅普诺夫稳定理论保证了系统的稳定性。仿真结果表明系统在任何初始状态下均能渐进稳定于其原点。