一类结构不确定非线性系统的鲁棒镇定

Robust stabilization for a class of nonlinear systems with structural uncertainty

基于鲁棒控制Lyapunov函数,首先给出一个函数为鲁棒控制Lyapunov函数的等价条件,进而获得该类系统可鲁棒稳定、可鲁棒实用稳定、可鲁棒渐近稳定的充分条件,并构造了与之相应的逐点最小范数的连续状态反馈控制律.仿真实例说明了所采用方法的有效性.

Based on robust control Lyapunov functions （RCLF） , an equivalent condition for a function to be an RCLF is given, and then a sufficient condition for the robust stabilization, robust practical stabilization and robust asymptotical stabilization is deduced. In addition, the continuous state feedback control law about the pointwise minimum norm is designed to globally asymptotically stabilize the equilibrium of the closed - loop system. The simulation result shows the effectiveness of the method.