不确定非线性系统变结构鲁棒自适应控制及应用

Variable structure robust adaptive control algorithm for a class of uncertain nonlinear systems and its application

针对一类具有不确定性的非线性系统，在系统模型的参数已知和不确定性界未知的条件下，提出了一个变结构鲁棒自适应控制算法．最后以船舶减摇鳍非线性控制系统为例，进行了变结构鲁棒自适应控制器的设计，经仿真研究表明，所提出的算法是有效的．

In this paper, a variable structure robust adaptive control algorithm is presented for a class of uncertain nonlinear systems based on known parameters of the system and unknown bound of uncertainty. An example illustrating the method described is included for ship roll stabilization by fin control system. It is shown that it makes the designed system guarantees the performance of robustness with respect to the perturbations and uncertainties.