一种优化的严反馈非线性系统反推控制

摘要

In this paper,aiming at optimized the Backstepping control for strict-feedback nonlinear system.By introducing a novel coordinate transformation,select different from traditional backstepping control algorithm of virtual control volume.Based on backstepping framework,the virtual control law of the systems is designed,then introduced the actual controller.It finds that the global asymptotic stability can be achieved when the tracking error of the system is under the control algorithm by analyzing the Lyapunov stability theory.By the end,numerical simulation is carried out on a three order strict-feedback nonlinear system.Under the reference input,the tracking error is globally asymptotically stable and compared with the traditional backstepping control algorithm,the convergence rate of the system is improved,which provides an effective method for improving the real-time performance of system.%该文针对严反馈非线性系统在Backstepping-法下进行优化.通过引入一个新的坐标变换,选择不同于传统反推控制算法的虚拟控制量.基于Backstepping的设计框架,逐层设计出了系统的虚拟控制律,继而推出实际的控制器.根据Lyapunov稳定性理论分析,系统各状态满足全局渐进稳定.最后对一个三阶的严反馈非线性系统进行数值仿真,发现系统在参考输入下,跟踪误差满足全局渐进稳定,并且相对于传统的反推控制算法,系统的收敛速度提高.证明了该方法可以提高系统的实时性.