General backstepping control method based on specified time lemma

The invention discloses a general backstepping control method based on a specified time lemma, and the method comprises the steps: combining a preset dynamical model with an expected value, and obtaining an error dynamical model; constructing a scalar function, and obtaining a specified time lemma model; constructing a virtual control rate model according to the order of a preset system and the specified time lemma model; according to the virtual control rate model, a target control input model is constructed, and the target control input model is used for enabling the error dynamics model to keep stable after reaching a first time threshold value. The method can solve the problem of high-precision and high-time-dependence control of a high-order system, and can be widely applied to the technical field of time-dependent control. 本发明公开了一种基于指定时间引理的通用反步控制方法，该方法包括：将预设动力学模型与期望值结合，获得误差动力学模型；构造标量函数，获取指定时间引理模型；根据预设系统的阶数以及所述指定时间引理模型，构造虚拟控制率模型；根据所述虚拟控制率模型，构造目标控制输入模型，所述目标控制输入模型用于使所述误差动力学模型在达到第一时间阈值后保持稳定。本发明可以解决高阶系统的高精度、