一类不确定非完整系统的鲁棒镇定

Robust Global Stabilization of Uncertain Chained Nonholonomic Systems Using Back stepping

摘要:

研究了具有强非线性干扰和强漂移项的链式非完整控制系统的镇定问题.设计出一种鲁棒状态反馈控制律,使得闭环系统全局收敛到原点.将Inputstate scaling变换方式与Backstepping反推法相结合的技巧，应用于非完整控制系统的镇定,其中,Backstepping反推法以Lyapunov稳定为设计原则.系统的设计实现了系统全局镇定,同时具有良好的动静态性能.仿真结果验证了本设计控制律的有效性.

Abstract:

This paper deals with nonholonomic control systems in chained form with strongly nonlinear disturbances and drift terms.The objective is to design a robust nonlinear state feedback law which can steer the closedloop systems globally converge to the origin.The systematic strategy combines the inputstate scaling technique with the backstepping procedure.The design rules of backstepping are based on Lyapunov stabilization.The control design not only makes the system globally stabilization,but also achieves good dynamic and static performance.The simulation results demonstrate the efficiency and robust features of the proposed controllers in this paper.