湖南大学学报（自然科学版）2001，Vol.28Issue(2)：72-77,6.
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
摘要
Abstract
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/大范围渐近稳定分类
信息技术与安全科学引用本文复制引用
李琳琳,赵长安,杨国军..一类不匹配不确定非线性系统的鲁棒控制[J].湖南大学学报（自然科学版）,2001,28(2):72-77,6.基金项目
863计划资助项目(863-2-5-4．3） （）
