【作者】 史永杰； 王银河；

【Author】 SHI Yong-jie, WANG Yin-he (Science College of Shantou University,Shantou 515063,China )

【机构】 汕头大学理学院；

【摘要】 针对一类基于模型补偿的非线性系统,首先运用backstepping方法设计其具有严格三角结构形式的嵌入子系统的控制器,进而根据已设计出的该子系统的控制器推得补偿后的整个系统的控制器;其次证明了所设计的控制器使得整个闭环系统是渐近稳定的;最后通过实例验证了结果的正确性．更多还原

【Abstract】 Firstly, in this paper controller for the imbedding sub- system with strict triangular structure form is designed by using backstepping method for a class of nonlinear systems based on model compensation, then the controller is proposed for the entire systems after model compensation according to the above controller of the imbedding sub- system. Secondly it is proved that the controller in this paper makes the entire closed - loop systems asymptotically stable. Finally the simulation of an example shows the validity of results in this paper.更多还原