| 输入无模型动态扰动非线性系统的反演控制 |
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| 引用本文： | 张磊,李世雄,王哲,程春华.输入无模型动态扰动非线性系统的反演控制[J].海军航空工程学院学报,2016,31(3):337-340, 352. |
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| 作者姓名： | 张磊 李世雄 王哲 程春华 |
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| 作者单位： | 海军航空工程学院科研部,山东烟台 264001,海装装备采购中心,北京 100071,海军航空工程学院青岛校区,山东青岛 266041,海军航空工程学院青岛校区,山东青岛 266041 |
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| 摘 要： | 研究了输入无模型动态扰动的不确定非线性系统的全局镇定。基于控制李雅普诺夫函数,设计了反演控制律,利用自抗扰的思想,构建扩展状态观测器来处理输入无模型动态,仿真结果验证了本方法的有效性。文章提出的控制方法适用于很多非线性系统。
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| 关 键 词： | 输入无模型动态 不确定非线性 反演 扩展状态观测器为 x1d的导数 具体的表达式可以从 |
with Input Unmodeled Dynamics |
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| ZHANG Lei,LI Shixiong,WANG Zhe and CHENG Chunhua.with Input Unmodeled Dynamics[J].Journal of Naval Aeronautical Engineering Institute,2016,31(3):337-340, 352. |
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| Authors: | ZHANG Lei LI Shixiong WANG Zhe and CHENG Chunhua |
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| Institution: | Naval Aeronautical and Astronautical University Department of Scientific Research, Yantai Shandong 264001,Outfit Purchasing Centre of NED, Beijing 100071, China,Naval Aeronautical and Astronautical University Qingdao Branch, Qingdao Shandong 266041, China and Naval Aeronautical and Astronautical University Qingdao Branch, Qingdao Shandong 266041, China |
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| Abstract: | The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic in put uncertainties (input unmodeled dynamics) was considered. A backstepping control law was constructed from a control Lyapunov function (CLF). In the control scheme, extend state observer based on active disturbance rejection ideal was de signed to deal with the input unmodeled dynamics. The proposed control method was applicable to a wide class of nonlin ear systems, meanwhile, the simulation result was presented to illustrate the effectiveness of the proposed control scheme. |
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| Keywords: | input unmodeled dynamics uncertain nonlinear backstepping extend state observer |
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