基于干扰观测器的一类不确定非线性系统鲁棒H∞控制

为了降低控制器对干扰的要求,基于干扰观测器提出一类多输入多输出不确定非线性系统的鲁棒H∞控制方法．将系统的内部不确定性和外部干扰组成复合干扰,设计基于小波神经网络的复合干扰观测器,并提出干扰观测器的参数调节方案使观测器能以高精度逼近复合干扰．同时在控制器中引入鲁棒控制项用来抑制观测器误差给系统带来的影响,所设计的控制器能使系统的跟踪误差小于一个给定的性能指标．最后给出一个仿真算例验证了本控制方案的有效性．

Robust H-infinity control for a class of nonlinear uncertain systems with disturbance observer

In order to reduce the restrain conditions on the disturbance restrained condition, a robust H-infinity controller is designed based on disturbance observer for a class of multi-input and multi-output uncertain nonlinear systems in this paper. The compound disturbance consists of the inner uncertainty and the external disturbance. The compound disturbance observer is designed with the wavelet networks, and the parameter's update law is also given for monitoring the compound disturbance. Synchronously, a robust control term is introduced to restrain the influence of the error of disturbance observer in the controller. The designed controller can make the tracking error of the system smaller than a given performance index. Finally, an example is given to demonstrate the availability of the proposed control scheme.