一类具有积分输入到状态稳定未建模动态的高阶非线性系统的状态反馈调节

摘要

We investigate the state-feedback regulation for a class of higher-order nonlinear systems with integral input-to-state stability(iISS) unmodeled dynamics. Based on the backstepping design technique and the properties of iISS, the design procedures for a state-feedback controller are developed by appropriately choosing the designed functions and the update laws of parameters. The designed controller guarantees that all the signals in the closed-loop system are bounded, and the states can be regulated asymptotically to zero. A simulation example demonstrates the effectiveness of the control scheme.%本文研究了一类具有积分输入到状态稳定(iISS)未建模动态的高阶非线性系统的状态反馈调节问题.基于反推技术和iISS的性质,通过恰当地选取设计函数和参数修正律,给出了一个状态反馈控制器的设计过程.设计的控制器保证了闭环系统所有信号的有界性,并且状态渐近调节到零.仿真例子验证了该控制方案的有效性.