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针对一类具有外界扰动的严格反馈非线性系统,将Backstepping技术、预设性能控制和鲁棒控制相结合,提出一种预设性能鲁棒控制器设计方法.通过误差转换,建立系统等效误差模型,利用Backstepping和鲁棒控制逐步递推选择适当的Lyapunov函数设计预设性能鲁棒控制器.该控制策略兼顾系统的暂态和稳态性能,仿真实例表明了所提出设计方法的有效性.
Aiming at a class of strict feedback nonlinear systems with external disturbances, a new robust controller design method based on Backstepping technology, preset performance control and robust control is proposed. Through the error transformation, the system equivalent error Model, the Backstepping and robust control are used to recursively select the appropriate Lyapunov function to design a robust controller with a preset performance. The control strategy considers the transient and steady-state performance of the system, and the simulation example shows the effectiveness of the proposed design method.