一类不匹配不确定非线性系统的鲁棒控制  

Robust Control for A Class of Nonlinear Systems with Mismatched Uncertainties

作　　者：李琳琳[1] 赵长安[1] 杨国军[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《湖南大学学报（自然科学版）》2001年第2期72-77,共6页Journal of Hunan University:Natural Sciences

基　　金：863计划资助项目! ( 863-2 -5-4 .3)

摘　　要：研究一类包含不匹配不确定性非线性系统的鲁棒镇定问题 .应用李亚普诺夫直接法 ,提出了一种基于不确定项上界的连续型鲁棒控制器设计方法 .该控制器分为两部分 ,分别对匹配不确定项和不匹配不确定项进行补偿 .由于在控制器中引入了两类时变函数 ,因而与以前的一些仅能保证系统一致最终有界的控制器相比 ,本文提出的控制器可确保相应闭环系统大范围渐近稳定 .此外 ,用来补偿匹配不确定项的控制器 ,其每一分量仅与相应通道的不确定项有关 ,因而要求的控制能量小 .所提控制器计算简单 ,更易实现 .The robust stabilization problem of a class of uncertain nonlinear systems with mismatched uncertainties is investigated in this paper.Applying Lyapunov direct method,a design method of continuous robust controller is proposed based on the upper bounds of the uncertainties.The developed control law contains two parts which compensate matched uncertainties and mismatched uncertainties respectively.Because of the introducing of two classes of time varying functions into robust controller,the given controller guarantees the asymptotic stability in the large scope for the obtained closed loop system.Furthermore,each element in the controller that compensates matched uncertainties depends only on the uncertainties in the corresponding channel,and therefore requires less control energy.The given controller is easy to compute and complement.The simulation result shows that the method presented is available and effective.

关 键 词：不匹配不确定性 非线性系统 鲁棒镇定 李亚普诺夫直接法 大范围渐近稳定 鲁棒控制器 

分 类 号：TP271.72[自动化与计算机技术—检测技术与自动化装置]