非线性严格反馈系统的约束自适应反步控制与其应用

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1、哈尔滨工业大学工学硕士学位论文Finally,weconsider,asanapplicationstudy,aconstrainedadaptivebacksteppingcontrolstrategyhasbeenproposedforvehicleactivesuspensionsystemsinordertoachievemulti-objectivecontrol.Inadditiontotheimprovementofridecomfort,thetime-domainconstrain

2、tsrequiredinactivesuspensioncontrolhavealsobeenguaranteedwithinthewholetimedomain.TheBarrierLyapunovFunctionisemployedtoguaranteethetime-domainconstraintswithlowconservatism.Theeffectivenessoftheproposedapproachhasbeenillustratedbyadesignexample.Keyword

3、s:Nonlinearcascadesystems；Constrainedcontrol；Backsteppingcontrol；Adaptivecontrol-III-哈尔滨工业大学工学硕士学位论文目录摘要................................................................................................IAbstract...........................................

4、................................................II第1章绪论....................................................................................11.1课题研究背景与意义......................................................................11.1.1基于Lyapunov方法的控制器设计......

5、........................................11.1.2约束控制系统...........................................................................21.1.3主动悬架系统的控制算法.........................................................31.2本文主要内容.........................................

6、........................................5第2章设计工具和预备知识..............................................................72.1引言...............................................................................................72.2数学预备知识..........................

7、.......................................................72.3Lyapunov稳定性分析.....................................................................92.4界限Lyapunov函数.........................................................................122.4.1一阶系统...........

8、.......................................................................152.4.2二阶系统..................................................................................162.5本章小结...............................................................