【作者】 张云；

【导师】 刘允刚；

【作者基本信息】 山东大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 本文研究了一类非线性不确定性系统的输出反馈控制问题。基于多变量的圆判据设计观测器来估计系统的状态。进而给出了观测误差满足的动态方程。然后利用积分反推方法，构造性地设计出了输出反馈稳定控制器、自适应镇定控制器和渐近跟踪控制器。结论表明：所设计的控制器保持在原点处的平衡性，并能够保证闭环系统达到所期望的性能。具体地讲，本文特色如下： 1)本文所研究的系统具有已建模和未建模两类非线性动态特性，因此较现有的与本文相关的结果更广泛。首先，在已建模动态特性满足多变量的非线性单调增长条件，未建模动态特性由一已知的函数为上界的条件下，构造性地设计了该类系统的稳定控制器；其次，在已建模动态特性满足相同条件，未建模动态特性由一已知的函数乘以一个未知常数为上界情况时构造性地设计了该类系统的自适应稳定控制器；最后，在已建模动态特性满足相同条件下，未建模动态为零时，进行了跟踪控制设计。所设计的控制器不但保证闭环系统达到所期望的性能，而且保证观测系统渐近收敛。 2)本文在利用backstepping方法进行输出反馈控制设计时，充分利用配方技术的优点，有效的避免了过参。所设计的控制器使得系统获得了所期望的性能指标，最终的仿真例子验证了本文的各个结果。 全文共分五章。第一章简述了非线性控制发展概况及本文研究的主要内容。第二章讨论了非线性不确定性系统的稳定控制设计问题。本章研究的内容主要是：在系统存在未建模动态部分的情况下，如何设计观测器，并且基于该观测器设计稳定控制器。第三章在第二章的基础上进一步讨论了该非线性不确定性系统的自适应稳定控制设计问题。本章的核心是：当未建模动态特性由一个已知函数乘以一个未知参数来主导时，如何对该系统进行自适应稳定控制器的设计。具体地，由于系统不确定性的上界未知，故引入自适应技术，以对其上界未知参数进行估计。第四章讨论了该类非线性不确定性系统的跟踪控制设计问题的一个特殊情况。即：当系统未建模动态部分为零时，如何解决系统渐近跟踪控制设计问题。第五章对全文进行了总结和概括。更多还原

【Abstract】 In this paper, the problem of output-feedback control is investigated for a class of nonlinear systems with uncertainties. Based on the multivariable analog of circle criterion, an observer is introduced for the state estimates and the dynamics of the estimation error are thus derived. Then, the output-feedback stable controller, the adaptive output-feedback stable controller and asymptotical tracking controller are constructively designed using integral backstepping approach. It is shown that, the controllers designed keep the equilibrium at origin, and ensure the closed systems derived the desired performance. Concretely speaking, the feature of this paper are as follows:1) The nonlinear systems to be considered in this paper possess two types of nonlinear dynamic characterizations, thus they are more general than the results that related to this paper. Firstly, under the condition that the known nonlinearities satisfy the multivariable nonlinear monotony increasing condition, and the unknown nonlinearities can be dominated by a known function, the stable controller is constructively designed for such class of nonlinear systems; secondly, when the known nonlinearities satisfy the same condition, the unknown nonlinearities can be dominated by a known function multiplying an unknown constant, the adaptive stable controller is constructively designed for such class of nonlinear systems; at last, when the known nonlinearities satisfy the same condition, the unknown nonlinearities are zero, we design the tracking controller for the system. The controllers designed not only ensure that the closed systems derive the desired performance, but also ensure that the observer systems are asymptotically convergent.2) In this paper, when we design output-feedback controllers for the systems, the technique of completing square is used sufficiently, the over parameters are avoided effectively. The controllers designed make the systems derive desired performance. The ultimate simulation results are presented to show the effectiveness of the each result of this paper respectively.This paper consists of 5 chapters. In chapter 1, we introduce the devel-更多还原