南京航空航天大学学报（英文版）2021，Vol.38Issue(2)：249-258,10.
具有复合非线性特征不确定系统的自适应反推控制
Adaptive Backstepping Control for Uncertain Systems with Compound Nonlinear Characteristics
摘要
Abstract
An adaptive backstepping multi-sliding mode approximation variable structure control scheme is proposed for a class of uncertain nonlinear systems. An actuator model with compound nonlinear characteristics is established based on the model decomposition method. The unmodeled dynamic term of the radial basis function neural network approximation system is presented. The Nussbaum gain design technique is utilized to overcome the problem that the control gain is unknown. The adaptive law estimation is used to estimate the upper boundary of neural network approximation and uncertain interference. The adaptive approximate variable structure control effectively weakens the control signal chattering while enhancing the robustness of the controller.Based on the Lyapunov stability theory,the stability of the entire control system is proved. The main advantage of the designed controller is that the compound nonlinear characteristics are considered and solved. Finally,simulation results are given to show the validity of the control scheme.关键词
复合非线性/饱和/滞回/自适应反推控制/径向基函数神经网络Key words
compound nonlinearities/saturation/hysteresis/adaptive backstepping control/radial basis function (RBF)neural network分类
信息技术与安全科学引用本文复制引用
李飞,王世梅,胡剑波,刘炳琪..具有复合非线性特征不确定系统的自适应反推控制[J].南京航空航天大学学报（英文版）,2021,38(2):249-258,10.基金项目
This work was supported by the Na-tional Social Science Foundation of China(No.17BGL270). （No.17BGL270）
