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中文摘要：
针对具有未建模动态、外界扰动的伺服系统,考虑传动柔性,依据牛顿运动学建立了动力学模型。设计了基于Backstepping的自适应鲁棒控制器,包括基于模型在线参数估计的自适应补偿、稳定反馈和鲁棒控制三部分。利用Lyapunov稳定性方法证明了闭环控制系统信号有界,且跟踪误差在任意要求的范围内。实验验证了所提算法的有效性。
英文摘要：
For servo systems with un-modeled dynamics and external disturbance,a kinetic model is set up according to the Newton kinematics and considering transmission flexibility. An adaptive robust controller based on Backstepping is designed including adaptive compensation,stable feedback and robust control based on model online parameter estimation. The closed-loop signals are proved to be bounded and the tracking error is within the range of any requirement by Lyapunov stability theory. Experiments verify the effectiveness of the proposed algorithm.
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Modeling and nonlinear computed torque control of ship-mounted mobile satellite communication system
Adaptive robust control of mobile satellite communication system with disturbance and model uncertai
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