带有干扰的时变系统的变结构鲁棒控制

Variable structure robust controller for linear time-varying systems with disturbances

对含有未知时变参数和外界干扰的单输入单输出线性时变系统,给出了一种变结构鲁棒输出跟踪控制器.系统参数不限定为慢时变或者结构已知的,只要求光滑有界且所需高阶导数有界.通过引入辅助信号和带有记忆功能的正规化信号,以及适当选择控制器参数,该变结构控制器能保证闭环系统所有信号的有界性,跟踪误差能被调整到任意小的范围内.

A variable structure robust controller is given for single-input and single-output linear time-varying systems with disturbances. Time-varying parameters are not restricted to be either slow time-varying or of known structure. Here only the smooth condition and boundedness of system parameters are required. By introducing some auxiliary signals and normalized signals with memory functions and appropriate choice of controller parameters, the proposed variable structure robust control scheme guarantees the uniform boundedness of all signals in the closed-loop system and the convergence of the tracking error to stay in an arbitrarily small compact set.