不确定时变时滞非线性系统多模型切换跟踪控制

Tracking Control for a Class of Uncertain Nonlinear Systems with Time-Varying Delay Using Multi-model Switching

考虑了当系统存在不确定的情况下,一类非线性时变时滞系统的多模型切换跟踪控制的设计问题.首先利用时滞T-S模糊模型对其进行建模;然后在不确定性满足增益有界的条件下,得到了该类时变时滞非线性系统满足闭环稳定和H∞跟踪控制性能的充分条件;最后根据所选定的变量,通过多模型切换控制,将相应的区域控制器切换为全局控制器,而其他控制器不起作用,实现对整体非线性系统的逼近与控制.仿真结果证明了方法的有效性.

This paper studies the design of a tracking control for a class of uncertain nonlinear systems with time-varying delay using multi-model switching in the presence of uncertainty. First, T-S models with time-delay are employed to model the uncertain nonlinear system with time-delay. When uncertainty is gain bounded, a sufficient condition, which satisfies the closed-loop stability and the performance of H∞ tracking, is presented for the exist- ence of the controller. Finally, a region controller, chosen according to the selected variables by the multiple-model switching control, is switched to the whole controller, and other controllers do not operate. Thus the control of the entire nonlinear system is established. Effectiveness of the proposed method is demonstrated with simulation results.