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针对一类具有一般形式的严格反馈非线性系统,提出一种基于预设性能的backstepping控制器设计方法.所谓预设性能是指在保证跟踪误差收敛到一个预先设定的任意小的区域的同时,保证收敛速度及超调量满足预先设定的条件.首先引入性能函数的概念,通过误差转化将原始的受限系统转换为等价的非受限系统;然后基于Lyapunov理论进行backstepping控制器的设计,并进行了稳定性分析;最后通过仿真实验验证了所提出方法的正确性.
Aiming at a class of strict feedback nonlinear systems with general form, a design method of backstepping controller based on the preset performance is proposed. The preset performance refers to that when the tracking error converges to a preset small area , The guaranteed convergence rate and overshoot satisfy the pre-set conditions.Firstly, the concept of performance function is introduced to transform the original constrained system into an equivalent non-constrained system by error transformation. Then, the backstepping controller based on Lyapunov theory Design, and stability analysis; Finally, the simulation results verify the correctness of the proposed method.