一类具有非线性不确定性动态系统鲁棒稳定性  

Robust stability of linear dynamic systems with some nonlinear uncertainty

作　　者：孙太怡[1] 赵长安[1] 李琳琳[1] 

机构地区：[1]哈尔滨工业大学控制工程系,黑龙江哈尔滨15000

出　　处：《哈尔滨工业大学学报》1999年第4期125-128,共4页Journal of Harbin Institute of Technology

基　　金：航天工业部预研项目

摘　　要：研究了一类具有不确定性非线性系统的鲁律稳定性问题．首先，对一类具有不确定性的非线性系统，基于精确反馈线性方法，通过状态坐标变换z=T（x）和输入状态反馈变换u=α（x）＋β（x）v，将其化为一可控线性系统．接着，当不确定性满足给定的假设条件下，基于Lyapunov方法，给出了鲁律控制器的一种设计方法，用定理给出了鲁律控制器存在的条件和保证不确定非线性系统渐近稳定条件，并给予严格证明．然后，给出了鲁棒渐近稳定控制器具体算法最后，针对一设计实例，应用提出的算法设计了鲁棒控制器，证明了所提方法的有效性．The robust stability problem of linear dynamic systemic with some nonlinear uncertainty is investigated First,for an uncertain nonlinear system, based on the exact feedback linearization, the controllable lineal system is obtained by using state transirmation z=T(x) and feedback transformation u = α (x) +β(x )v. be, as the uncedrinty meets some given conditions, the design for of robust cotriller is presented by applying Lyapunov direct method , and the theorem is also given and verified to guarantee asympototic stability of the uncertain nonlinear system. The algorithm for designing such a controller is also suggested An arerical example has shown ta the method is effective.

关 键 词：不确定性 非线性系统 鲁棒稳定控制器 

分 类 号：TP271.72[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]