摘要
应用输入 /输出反馈线性化法和李亚普诺夫直接法 ,提出了一种基于不确定项上界的连续型鲁棒输出跟踪控制器设计方案。利用该方案设计的鲁棒跟踪控制器可确保相应闭环系统的输出跟踪误差及状态一致最终有界。所提出的鲁棒跟踪控制器计算简单 ,更易实现。最后给出了一个例子 。
The problem of robust output tracking control for a class of uncertain nonlinear systems is investigated in this paper. Here, the uncertainties don′t satisfy the matching condition. Applied input/output feedback linearization approach and Lyapunov direct method, a design method of continuous robust output tracking controller is proposed based on the upper bounds of uncertainties. The designed controller guarantees that the output tracking error and the states of the obtained closed loop systems are uniformly ultimately bounded. Moreover, the proposed controller is easy to compute and complement. Finally, an example is given. The simulation result shows that the method presented is available and effective.
出处
《高技术通讯》
EI
CAS
CSCD
2001年第8期86-88,78,共4页
Chinese High Technology Letters
基金
863计划资助项目 (863 2 5 4.3 )
