一类不确定非线性系统的鲁棒输出反馈控制*

Robust Output-Feedback Control of a Class of UncertainNonlinear Systems

中文关键词  非线性系统  输出反馈  鲁棒控制

英文关键词  nonlinear system  output-feedback  robust control

中文摘要

      本文考虑一类具有输出反馈标准形的非线性系统的输出反馈控制问题. 为了给出其不同于自适应控制的解决办法，设计出了新的鲁棒输出反馈控制方案。该方案不需辨识系统未知参数，也不需知道未知参数向量的上界，就能保证所有控制系统信号的全局有界性，并且通过控制器参数的适当选择，可以使系统跟踪误差达到任意小. 仿真结果表明可以获得良好的跟踪效果.

英文摘要

      In this paper，the robust output-feedback control problems of a class of nonlinear systems in output-feedback canonical forms are considered. ln order to give a solution which is different from the adap-tive control one，a new robust output-feedback control scheme is designed. The global boundness of all the signals in the control systems can be guaranteed without the need of parameter estimation and without the re-quirement of knowing the upper bounds of the unknown parameter vectors. The tracking error can be made arbitrarily small through the suitable chosen of the controller parameters. The simulations show that good tracking effects are obtained.