一类非线性系统的准线性化鲁棒跟踪控制

Quasi-linearized Robust Tracking Control for a Class of Nonlinear Systems

本文针对一类模型存在不确定量的非线性系统,提出一种基于准线性化模型的鲁棒跟踪器设计方案,文中的定理给出了跟踪误差界。该方法应用于机器人的跟踪控制,取得满意的仿真结果。

For a class of nonlinear systems in the presence of uncertainties, we propose a design methed for a robust tracking controller based on its quasi -linearized model. The bound of tracking error is given and the method is applied to the tracking control for robot. The simulation results are satisfactory.