含约束的非线性不确定系统的鲁棒控制

Robust Control of Nonlinear Uncertain Systems with Constraints

讨论一类含约束的非线性不确定系统的鲁棒控制问题（这里的不确定性并不要求满足匹配条件）。在一定的假设条件下给出了使该类问题可解的充分条件，构造出相应的鲁棒控制器，该控制器避免了利用微分几何方法所得控制器易产生过度控制的缺点。

In the paper, the problem of robust control for a class of nonlinear uncertain systems, which satisfy mismacthing condition, is discussed. Under some asumptions, the correspending robust controller, which can overcome the drawback of large control effort by controller derived using conventional differential geometric method, is constructed.