CAJ | 학술논문

研究了一类控制系数未知的非线性参数化系统的输出反馈实际跟踪控制问题。通过引入适当的坐标变换，将原始系统转换成不带有控制系数的新系统。为新系统设计了合理的高增益观测器，进而利用反推技术，设计了输出反馈跟踪控制器。仿真结果表明，通过选择合适的设计参数，所设计的输出反馈跟踪控制器可以保证系统所有的状态全局有界，并且当时间足够大时，跟踪误差收敛到零点的既定小领域内。
연구료일류공제계수미지적비선성삼수화계통적수출반궤실제근종공제문제。통과인입괄당적좌표변환，장원시계통전환성불대유공제계수적신계통。위신계통설계료합리적고증익관측기，진이이용반추기술，설계료수출반궤근종공제기。방진결과표명，통과선택합괄적설계삼수，소설계적수출반궤근종공제기가이보증계통소유적상태전국유계，병차당시간족구대시，근종오차수렴도영점적기정소영역내。
The practical tracking control by output feedback was considered for a class of nonlinearly parameterized sys-tems with unknown control coefficients.By introducing the appropriate coordinate transformation, the original system was transformed into a new system without uncertain control coefficients.Then, a suitable high-gain observer was con-structed and the tracking controller by output feedback was successfully designed using the backstepping technique.The simulation result showed that if the design parameters were chosen suitably, the designed controller guaranteed the closed-loop system states to be globally bounded, and the tracking error to converge to the prescribed small neighbor-hood of the origin after enough long time.