放松和混合的反步法
Relaxed and hybridized backstepping
AI总结：
本文提出一种混合反步控制方法，用于解决传统连续反步反馈法在非线性系统中的结构性障碍问题，通过结合反步控制器和局部稳定控制器，实现系统原点不全局渐近稳定但存在实用渐近稳定的吸引子。
摘要：
在本文中，我们考虑存在结构性障碍的非线性控制系统，这些障碍使得经典连续反步反馈法的设计难以实现。我们设计反馈律，使得闭环系统的原点不全局渐近稳定，但存在一个合适的吸引子（严格包含原点），该吸引子是实用渐近稳定的。提出了一种设计方法，用于构建结合反步控制器和局部稳定控制器的混合反馈律。还提出了一种构造性方法，利用非线性动力学的微分包含表示。结果对于一个由于其结构而不具备先验全局稳定反步控制器的非线性系统进行了说明。
英文摘要：
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system is not globally asymptotically stable but a suitable attractor (strictly containing the origin) is practically asymptotically stable. A design method is suggested to build a hybrid feedback law combining a backstepping controller with a locally stabilizing controller. A constructive approach is also suggested employing a differential inclusion representation of the nonlinear dynamics. The results are illustrated for a nonlinear system which, due to its structure, does not have {\it a priori} any globally stabilizing backstepping controller.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
