【作者】 韩永成； 方一鸣； 赵琳琳；

【Author】 Han Yongcheng,Fang Yiming,Zhao Linlin College of Electric Engineering,Yanshan University,Qinhuangdao 066004,P.R.China

【机构】 燕山大学电气工程学院；

【摘要】 针对一类非严格参数反馈不确定的高阶单输入单输出非线性系统,提出了一种改进的自适应Backstepping控制器设计方法。该方法通过对系统模型的等价变换和选择合适的Lyapunov函数,有效解决了系统模型中控制量前存在不确定系数而导致所设计的控制器存在参数自适应律,而自适应律中存在控制量造成的嵌套难题。本文把这种控制策略应用到液压伺服系统的位置跟踪控制中,设计了自适应Backstepping控制器,仿真结果表明,该控制器具有较强的鲁棒性及良好的跟踪性能。更多还原

【Abstract】 An improved adaptive Backstepping controller design method is proposed for a class of higher-order single input and single output nonlinear system with non-strictly parameter feedback uncertainty.For uncertain coefficient of control input in system model,existing nesting problem that the designed controller includes parameter adaptive law and the adaptive law includes control input are solved effectively by using equivalent model transform and selecting the suitable Lyapunov function.The proposed method is applied to position tracking control of hydraulic servo system,and an adaptive Backstepping controller is designed.Simulation results show that the proposed controller has good robustness and position tracking performance.更多还原