| 引用本文: | 胡剑波, 辛海良.含有不灵敏区有界不确定非线性系统的鲁棒跟踪控制[J].控制理论与应用,2007,24(6):1025~1028.[点击复制] |
| HU Jian-bo, XIN Hai-liang .Robust tracking control of nonlinear systems with dead-zones and norm-bounded uncertainties[J].Control Theory and Technology,2007,24(6):1025~1028.[点击复制] |
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| 含有不灵敏区有界不确定非线性系统的鲁棒跟踪控制 |
| Robust tracking control of nonlinear systems with dead-zones and norm-bounded uncertainties |
| 摘要点击 1503 全文点击 1099 投稿时间：2005-11-02 修订日期：2006-09-13 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.6.032 |
| 2007,24(6):1025-1028 |
| 中文关键词 不灵敏区 非线性系统 鲁棒控制 |
| 英文关键词 dead-zones nonlinear robust control |
| 基金项目 军队科研重点项目; 军队技术基础项目 |
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| 中文摘要 |
| 针对具有控制输入不灵敏区及有界不确定性的非线性系统, 研究其鲁棒跟踪问题. 利用变结构控制方法和自适应参数估计方法, 在同时存在的参数、结构及干扰的不确定性和未知控制输入不灵敏区的情形下, 提出了鲁棒控制律设计方法, 并提出克服控制信号抖动的改进算法. 所提出的控制律可以保证闭环系统的一致终结有界, 并且算法比较简单, 便于实现. 用数字仿真方法验证了所得控制律设计方法的有效性. |
| 英文摘要 |
| The robust tracking control problem for a class of nonlinear systems with unknown dead-zones and normbounded uncertainties is studied in this paper. Firstly, the robustness against structural and parametrical uncertainties,unknown disturbances and unknown dead-zones are considered. The adaptive variable structure controller is then proposed based on adaptive control method and variable structure control approach. The improved control law is given to avoid the chattering, and ensure that the closed system is ultimately asymptotically bounded. Finally, simulation results confirm that the performance is satisfactory. |
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