一类纯反馈非线性系统的反推控制

摘要

研究了一类纯反馈非线性系统的输出跟踪问题。通过引入一个新的坐标变换，提出了一种基于反推设计的状态反馈控制算法。所得控制算法不仅保证了系统跟踪误差全局渐近稳定，同时使得闭环系统所有信号有界。最后，一个仿真实例验证了本文控制算法的有效性。%The output tracking problem for a class of pure-feedback nonlinear systems is discussed. By introducing a novel coordinate transformation, we develop a state feedback controller via backstepping approach. The proposed control algorithm not only ensures the global asymptotic tracking, but also guarantees the boundedness of all the closed loop signals. Finally, a simulation example is given to demonstrate the effectiveness of the proposed control scheme.