大型不确定前馈型系统的分散鲁棒镇定

Robust decentralized stabilization for large-scale uncertainty feedforward systems

研究了大型不确定前馈型系统的鲁棒分散镇定问题。因为系统具有前馈型结构,采用自下而上的迭代分析方法,同时注意运用互联非线性系统有界性和稳定性判据。将设计任务转化为镇定底层子系统和其他子系统的标称部分,并可以明确构造简单的饱和控制律。该方法利用系统的结构特性,不太依赖李雅普诺夫函数,也不需要通常的LMI技巧。仿真说明该方法的有效性。

The robust decentralized stabilization of large-scale uncertainty feedforward systems is studied. Because the concerned system has a feedforward structure, the bottom-up recursive analysis technique is used, and some stability and boundedness criteria of cascaded nonlinear systems are applied. As a result, the design task is transformed into the stabilization of the bottom subsystem and the nominal part of other subsystems, and simple saturated controllers can be explicitly constructed. Sufficiently using the structural property of the system, the suggested method neither heavily depends on Lyapunov function, nor needs the usual LMI technique. The effectiveness of the algorithm is validated by numerical simulations.