【摘要】 反步设计法是针对不确定非线性系统的进行鲁棒自适应控制器设计的主要方法之一,它主要是靠递推来完成,方法简单,但存在过参数化问题。在反步设计法的基础上,通过引入调节函数,选取合适的虚拟控制律,设计一种鲁棒自适应控制器。然后,利用Lyapunov稳定性理论证明了该设计不仅能够克服过参数化的问题,而且能够保证所设计的系统具有鲁棒自适应稳定性。仿真实例证明了该方法的有效性。更多还原

【Abstract】 Back-stepping design method is one of main design methods of robust adaptive controller for uncertain nonlinear systems,which is mainly completed by recurring. This method is simple,but there is a problem of over-parameters.Based on the back-stepping design method,another robust adaptive controller is designed for uncertain nonlinear systems by utilizing regulation function and choosing a suitable virtual control law firstly.The designed method is proved that it can not only overcome the problem of over-parameterization,but also ensure robust adaptive stability of the system by using Lyapunove ability theory. A simulation result shows the effectiveness of the method.更多还原