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Modeling and prescribed H ∞ tracking control for strict feedback nonlinear systems

机译：严格反馈非线性系统的H ∞跟踪建模与控制

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摘要

By utilizing backstepping technique, an H1 robust controller with improved prescribedperformance and dynamic surface control is designed for a class of strict feedback nonlinearsystems. The transient and steady state performance for the tracking errors of nonlinear system canbe guaranteed by using improved prescribed performance constraint. The dynamic surface controlis used to overcome the differential explosion problem in the backstepping procedure. The impactsof uncertainties in the system are attenuated by H1 control. The performance and stability analysisproves that the controller design procedure is simple with low complexity and robustness. Finally,the simulation results verify the effectiveness of the controller. By comparing with the existingmethod, the proposed method has a faster convergence speed and better steady state performance,and also the controller design process is simpler.
机译：通过使用反推技术，针对一类严格的反馈非线性系统设计了具有改进的规定性能和动态表面控制的H1鲁棒控制器。通过使用改进的规定性能约束，可以保证非线性系统跟踪误差的暂态和稳态性能。动态表面控制用于克服反推过程中的微分爆炸问题。 H1控制减弱了系统不确定性的影响。性能和稳定性分析证明，控制器设计过程简单，复杂度低，鲁棒性强。最后，仿真结果验证了控制器的有效性。与现有方法相比，该方法收敛速度更快，稳态性能更好，控制器的设计过程也更简单。

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