一类非线性不确定系统的串级鲁棒控制

Robust control for a class of uncertain nonlinear systems:A cascade approach

基于Lyapunov函数设计的非线性不确定系统的控制律通常需要经过复杂的数学分析。为得到简单有效的控制规律,该文提出一种将基于主动补偿的鲁棒控制(TC)及串级控制结合的控制思想,设计串级TC控制器使系统状态渐进收敛到零。利用Monte Carlo随机试验方法,假设模型参数在一定范围内摄动,依据系统动态响应及性能指标分布情况检验闭环系统的性能鲁棒性。详细介绍了串级鲁棒控制的基本原理和设计步骤,进行了仿真实验。仿真结果表明,与处理同类问题的其他方法相比,串级鲁棒控制在状态收敛速度、ITAE指标、性能鲁棒性等方面均具有明显的优势,证实了该方法的有效性。

Lyapunov function based control law of uncertain nonlinear systems is always complex in math. A cascade robust control scheme was developed to obtain a simple and effective control algorithm for a class of uncertain nonlinear systems. The robust controller is an active compensation based robust controller,i.e. Tornambe Controller （TC）. The control scheme was designed to make the states of close-loop systems with nonzero initial condition asymptotically converge to zero. Assuming that system parameters were perturbed within a specified range,Monte Carlo method was used to evaluate the system performance robustness. Simulations show that the control scheme is advantageous with excellent convergence rates,ITAE indexes and performance robustness.