具有不确定性的非线性系统的变结构控制

本文研究了具有不确定性非线性系统的鲁棒输出跟踪控制问题，考虑了对参数、建模不确定性及干扰的鲁棒性。这里的不确定性不需满足通常的匹配条件。通过构造一个Ｌｙａｐｕｎｏｖ函数，我们得到一个变结构控制器，并且证明了输出跟踪误差的收敛性。最后，给出了计算机仿真，结果表明本文提出的方法是有效的。

VARIABLE STRUCTURE CONTROL FOR NONLINEAR SYSTEMS WITH UNCERTAINTIES

In this pape,the robust output tracking control problem for nonlinear systems is discussed. The robustness against parameter uncertainties and unknown disturbances is considered.Here, the uncer-tainties do not satisfy the conventionai matching condition,We get a variable structure controller by con-structing a Lyapunov function. It is shown that the overall states are bounded and the tracking errors con-verge to a residual set.A computer simulation is given,the results have verified the expected satisfactoryperformance.