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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Understandings of Classical and Incremental Backstepping Controllers With Model Uncertainties
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Understandings of Classical and Incremental Backstepping Controllers With Model Uncertainties

机译：具有模型不确定性的古典和增量BackStepping控制器的理解

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摘要

This article suggests closed-loop analysis results for both classical and incremental backstepping controllers considering model uncertainties. First, transfer functions with each control algorithm under the model uncertainties, are compared with the ones for the nominal case. The effects of the model uncertainties on the closed-loop systems are critically assessed via investigations on stability conditions and performance metrics. Second, closed-loop characteristics with classical and incremental backstepping controllers under the model uncertainties are directly compared using derived common metrics from their transfer functions. This comparative study clarifies how the effects of the model uncertainties on the closed-loop system become different depending on the applied control algorithm. It also enables an understanding of the effects of additional measurements in the incremental algorithm. Third, case studies are conducted assuming that the uncertainty exists only in one aerodynamic derivative estimate while the other estimates have true values. This facilitates systematic interpretations on the impacts of the uncertainty on the specific aerodynamic derivative estimate to the closed-loop system.
机译：本文介绍了考虑模型不确定性的经典和增量背击控制器的闭环分析结果。首先，将在模型不确定性下的每个控制算法传递函数，与标称案例的模型不确定。通过对稳定性条件和性能指标的研究，模型不确定性对闭环系统的影响受到严重评估。第二，使用来自其传输函数的来自普通指标，直接与模型不确定性下的经典和增量背击控制器的闭环特性。该比较研究阐明了如何根据所应用的控制算法对闭环系统对闭环系统的影响的影响。它还可以了解增量算法中额外测量的影响。第三，假设不确定性仅存在于一个空气动力学衍生物估计，而另一个估计具有真实价值的情况下，则进行案例研究。这有助于系统解释对不确定度对闭环系统的特定空气动力学衍生物估计的影响。

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