一类非线性时变系统的鲁棒输出跟踪控制

研究一类具有非匹配不确定性的非线性时变系统的鲁棒状态反馈输出跟踪控制器设计问题。通过引入非线性时变系统的相对阶将系统输入输出线性化，然后设计出一种基于标称系统和不确定性上界的连接型鲁棒输出跟踪控制器，利用该方案设计的控制器可保证整个闭环系统是一致有界稳定的，且闭环输出可以渐近跟踪期望的轨迹。

Robust Output Tracking Control for a Class of Nonlinear Time-varying Systems

The problem of robust output tracking control for a class of affine nonlinear time varying systems with mismatched uncertainties is considered. Modified relative degree is defined to study the linearization of the time varying systems. A robust output tracking controller is proposed for the systems based on the nominal systems and the bounds of uncertainties. The controller ensures that the output of the obtained closed loop systems can asymptotically track the desired output, and all states of the closed loop systems are bounded.