Robustification of backstepping against input unmodeled dynamics

Arcak M.; Seron M.; Braslavsky J.; Kokotovic P.

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Robustification of backstepping against input unmodeled dynamics

机译：针对输入未建模动态进行反推的稳健性

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We present two redesigns to robustify backstepping control laws against dynamic uncertainties in the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. The second redesign is a simplification of the first, useful for high-order systems. We also compare the stability margins of the two main versions of backstepping: cancellation and LGV-backstepping

机译：我们提出了两种重新设计，以加强针对工厂输入中动态不确定性的反推控制律。在第一个重新设计中，我们通过反步获得的控制Lyapunov函数构造钝化控制律。第二次重新设计是对第一个的简化，对高阶系统很有用。我们还比较了两种主要版本的反推的稳定性裕度：抵消和LGV反推

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《IEEE Transactions on Automatic Control》 |2000年第7期|p.1358-1363|共6页
作者
Arcak M.; Seron M.; Braslavsky J.; Kokotovic P.;
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正文语种 eng
中图分类自动化系统;
关键词
Lyapunov methods; control system synthesis; robust control; uncertain systems; backstepping control laws; cancellation; control Lyapunov function; dynamic uncertainties; high-order systems; input unmodeled dynamics; passivating control law; redesign; robustification;

机译：Lyapunov方法;控制系统综合;鲁棒控制;不确定系统;后推控制律;取消;控制Lyapunov函数;动态不确定性;高阶系统;输入非模型动力学;钝化控制律;重新设计;鲁棒化;

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1. Robustification of backstepping against input unmodeled dynamics [J] . Arcak M., Seron M. IEEE Transactions on Automatic Control . 2000,第7期

机译：针对输入未建模动态进行反推的稳健性
2. Nussbaum gain adaptive backstepping control of nonlinear strict-feedback systems with unmodeled dynamics and unknown dead zone [J] . Ma Hui, Liang Hongjing, Ma Hongjun, International Journal of Robust and Nonlinear Control . 2018,第17期

机译：Nussbaum利益使用未拼质动力学和未知死区的非线性严格反馈系统的自适应BackStepping控制
3. Adaptive backstepping neural control of state-delayed nonlinear systems with full-state constraints and unmodeled dynamics [J] . Zhang Tianping, Xia Meizhen, Zhu Jiaming International Journal of Adaptive Control and Signal Processing . 2017,第11期

机译：具有全状态约束和未建模动力学的时滞非线性系统的自适应反步神经控制
4. Robustification of backstepping against input unmodeled dynamics [C] . Arcak, M., Seron, . 1999

机译：针对输入未建模动力学的反推的鲁棒性
5. Dynamic sliding manifold-based control in systems with unmodeled cascade dynamics. [D] . Krupp, Don R., Jr. 2004

机译：具有无模型级联动力学的系统中基于动态滑动流形的控制。
6. Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics [O] . Walter Alejandro Mayorga-Macías, Luis Enrique González-Jiménez, Marco Antonio Meza-Aguilar, 2020

机译：考虑执行器动态的多电机实时反向控制的速度传感器
7. Robustification of Backstepping against Input Unmodeled Dynamics [O] . Murat Arcak, Maria Seron, Julio Braslavsky, 1999

机译：针对输入未建模动态的Backstepping的鲁棒性

Robustification of backstepping against input unmodeled dynamics

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