불확실한 순궤환 비선형 계통에 대한 스위칭 미분기를이용한 상태궤환 백스테핑 제어기
State-Feedback Backstepping Controller for Uncertain Pure-Feedback Nonlinear Systems Using Switching Differentiator
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초록
불확실한 순궤환 비선형 계통에 대한 스위칭 미분기 기반의 새로운 백스테핑 제어기를 제안한다. 제안된 제어기에서는 점근적 추종 특성을 갖는 스위칭 미분기를 사용하여 백스테핑 제어기의 매 설계 단계마다 가상 제어항이 직접 근사된다. 그 결과 제어식이 매우 단순화되고 계통에 내재된 파라미터 및 구조적 불확실성과 외란이 존재함에도 불구하고 계통의 출력이 원하는 출력을 점근적으로 추종함을 증명한다. 또한 신경망이나 퍼지시스템 같은 계통의 구조적인 불확실성에 적응적으로 실시간 보상하기 위한 범용 근사기가 불필요하다. 모의실험을 통해서 제안된 제어기의 성능과 간결함을 보인다.
Abstract
A novel switching differentiator-based backstepping controller for uncertain pure-feedback nonlinear systems isproposed. Using asymptotically convergent switching differentiator, time-derivatives of the virtual controls are directlyestimated in every backstepping design steps. As a result, the control law has an extremely simple form andasymptotical stability of the tracking error is guaranteed regardless of parametric or unstructured uncertainties andunmatched disturbances in the considered system. It is required no universal approximators such as neural networks orfuzzy logic systems that are adaptively tuned online to cope with system uncertainties. Simulation results show thesimplicity and performance of the proposed controller.
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