Global robust optimal sliding mode control for uncertain affine nonlinear systems  

作　　者：Pang Haiping Chen Xia 

机构地区：[1]Coll. of Automation and Electronic Engineering, Qingdao Univ. of Science and Technology, Qingdao 266042, P. R. China

出　　处：《Journal of Systems Engineering and Electronics》2009年第4期838-843,共6页系统工程与电子技术（英文版）

基　　金：supported by the Doctoral Foundation of Qingdao University of Science and Technology(0022330).

摘　　要：The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.

关 键 词：robust control optimal control sliding mode control nonlinear systems uncertain systems exact linearization. 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置] N94[自动化与计算机技术—控制科学与工程]