具有参数不确定性的非线性系统的鲁棒输出跟踪

研究具有非线性参数化的非线性系统的输出跟踪问题.采用时变状态反馈控制律, 指数镇定输出跟踪误差,并保证非线性系统的所有状态是有界的.为了实现时变状态反馈控 制律,设计高增益鲁棒观测器观测构造该控制律所需要的状态,使得整个闭环系统的输出能 渐近跟踪期望输出,且该闭环系统中所有信号都是有界的.

Robust Output Tracking of Nonlinear Systems With Parametric Uncertainties

In this paper, the output tracking of the nonlinear system with nonlinear parameterization is considered. Using the time varying state feedback control law exponentially stabilizes the output tracking error, and guarantees that all states in the nonlinear system are bounded. To implement the time varying state feedback control law, design the high gain robust observer which observes the states needed by the control law. The output of the obtained closed loop system can asymptotically track the desired output, and all signals inside the closed loop system are bounded.