一类不确定非线性系统的变结构鲁棒控制及应用

针对一类具有不确定性的非线性系统，在假定系统模型不确定性界已知的情况下，提出一个变结构鲁棒控制算法。以船舶减摇鳍非线性控制系统为例，进行变结构鲁棒自适应控制器的设计，经仿真研究表明，它可以使控制系统具有较强的鲁棒性。

Variable Structure Robust Control Algorithm for a Class of Uncertain Nonlinear Systems and Its Application

A variable structure robust control algorithm for a class of uncertain nonlinear systems with the possible bound of uncertainty is presented. The simulation results show that the variable structure robust control algorithm is very good at suppressing ship roll motion caused by sea disturbances and that it is robust to large variations in the parameters of the ship dynamics. It is shown that it makes the designed system guarantees the performance of robustness with respect to the perturbations and uncertainties.