一类结构不确定性非线性系统的全局鲁棒镇定

Globally Robust Stabilization of Nonlinear Systems with Structural Uncertainty

探讨了结构不确定性非线性系统的全局鲁棒镇定问题.基于控制Lyapunov函数(CLF),给出了Lyapunov镇定的充分必要条件.从这一条件出发获得了全局渐近稳定的充分条件,并且设计了一个状态反馈控制律,可全局渐近稳定闭环系统的平衡点.仿真实例说明了这一方法的有效性.

This paper deals with the stabilization problem of nonlinear system with structural uncertainty. Based on control Lyapunov function, a sufficient and necessary condition for Lyapunov stabilization is firstly given. From the condition,several simply sufficient conditions for the globally asymptotical stability are deduced. Lastly,a state feedback control law is designed to globally asymptotically stabilize the equilibrium point of the closed-loop system. The simulation shows the effectiveness of the method.