DESIGN OF SOFTER ROBUST NONLINEAR CONTROL LAWS

被引：88

作者：

FREEMAN, RA ^{[1
]}

KOKOTOVIC, PV ^{[1
]}

机构：

[1] UNIV CALIF SANTA BARBARA,CTR CONTROL ENGN & COMPUTAT,SANTA BARBARA,CA 93106

来源：

AUTOMATICA | 1993年 / 29卷 / 06期

基金：

美国国家科学基金会;

关键词：

BACKSTEPPING; MISMATCHED UNCERTAINTIES; NONLINEAR SYSTEMS; ROBUST CONTROL;

D O I：

10.1016/0005-1098(93)90007-G

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We show that the Lyapunov function used in backstepping feedback designs for uncertain nonlinear systems leads to unnecessarily 'hard' control laws having undesirable high-gain properties. We present a new Lyapunov function and use it to design 'softer' control laws which exhibit the high-gain properties to a much lesser extent. We show that the 'soft' designs eliminate the chattering exhibited by the 'hard' designs and achieve the same or better performance with less control effort.

引用

页码：1425 / 1437

页数：13

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