带有干扰的线性时变系统的非线性鲁棒控制

研究了含有未知时变参数和有界干扰的单输入单输出线性时变系统的鲁棒控制问题.系统时变参数只要求光滑有界而不限制为慢时变或参数上界已知.利用时变的状态变换得到新的动态系统,基于Backstepping方法,设计出一种非线性鲁棒控制器.通过适当选择控制器参数,可以保证闭环系统是全局渐近稳定的.仿真例子表明了算法的有效性.

Nonlinear robust control for linear time-varying systems with disturbances

The problem of robust control is considered for single-input single-output linear time-varying systems with unknown time-varying parameters and bounded disturbances.Here the system parameters are only required to be smooth and bounded without the assumption of parameters to be slowly varying or to have known bounds.By means of the global change of coordinates with time-varying parameters,a new dynamic system is obtained to develop the controller design strategy.Based on the backstepping approach,a nonlinear robust controller is proposed.By the proper choice of the controller parameters,the global stability of closed-loop system is guaranteed.A simulation example is given to illustrate the effectiveness of the proposed algorithm.