Transactions of Nanjing University of Aeronautics & Astronautics
Adaptive Backstepping Control for Uncertain Systems with Compound Nonlinear Characteristics
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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.
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Clc Number:
TP273
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