CAJ | 학술논문

针对欠驱动系统TORA ，通过部分反馈线性化和全局坐标变换，得到系统的非线性反馈级联模型。为TORA系统提出了一种两步递推反步设计方法，得到系统的非线性控制器。设计过程中利用李雅普诺夫稳定理论保证了系统的稳定性。仿真结果表明系统在任何初始状态下均能渐进稳定于其原点。
침대흠구동계통TORA ，통과부분반궤선성화화전국좌표변환，득도계통적비선성반궤급련모형。위TORA계통제출료일충량보체추반보설계방법，득도계통적비선성공제기。설계과정중이용리아보낙부은정이론보증료계통적은정성。방진결과표명계통재임하초시상태하균능점진은정우기원점。
The TORA system model is transformed to a feedback cascade model with the partial feedback linearization and a global coordinate change .A two-steps recursive backstepping algorithm is proposed for the TORA system to obtain a nonlinear con-troller .During the design process ,the system stability is guaranteed with the Lyapunov theory .The simulation results show the TO-RA system under any initial states is globally asymptotically stable to its origin .