Research on a Novel Kind of Adaptive Backstepping Controller Design Method for Uncertain Second Order Systems

摘要

The control problem of second order system with single uncertain constant control coefficient is studied with adaptive backstepping strategy. In order to solve differential bomb problem of traditional backstepping control method, four different differential algorithms even include second order filter method are tried to solve the derivative of expected value. And according to the analysis of this paper, it testified that the first order or second order filter method are better than pure numerical derivative method. And what is worthy pointing out is that the whole gain of the system include the gain of controller should be designed to be proper. It is the key factor that affecting the stability of the whole system.