非线性不确定系统的鲁棒自适应Backstepping控制

针对一类有界扰动不确定非线性系统，讨论了鲁棒自适应ε输出跟踪问题．利用Backstepping方法和鲁棒控制技术，对存在未知参数和动态不确定性的非线性系统设计了一种自适应输出反馈控制器．基于Lyapunov稳定性理论所设计的控制器不仅保证闭环系统状态全局一致有界，而且使系统的跟踪误差收敛到一个很小的邻域内．仿真结果表明了所设计方法的有效性．

Robust Adaptive Backstepping Control of Nonlinear Systems with Uncertainty

For a class of nonlinear systems with bounded disturbance uncertainties, the robust adaptive E-output-tracking control problem is dealt with. Combining the backstepping method with robust control, a new robust output feedback controller is developed for unknown parameters and dynamic uncertainties. It is shown that the derived controller based on the Lyapunov stabihty theory can ensure global uniform boundedness for all states of a closed-loop system, and convergence of tracking error within an arbitrarily small neighborhood of the origin. Simulation results are provided to show effectiveness of the proposed approach.