输入受限非线性系统的鲁棒广义逐点最小范数控制

ROBUST GENERALIZED POINTWISE MIN-NORM CONTROLLER FOR INPUT CONSTRAINED NONLINEAR SYSTEMS

面向具有输入约束的非线性不确定系统,根据输入输出有限增益L_2稳定的概念,提出了一种新的鲁棒控制Lyapunov函数.根据此概念,在前期研究的广义逐点最小范数控制的基础上,提出了一种对参数不确定性及外部干扰均具有抑制作用的鲁棒广义逐点最小范数控制器设计方法,并研究了其解析形式的求解方法.通过引入"引导函数",新的算法能够在保证鲁棒稳定性的同时更加灵活的考虑各种控制性能指标.最后,通过将新方法与状态相关Riccati方程非线性控制方法相结合验证该方法可用于提高原有控制器的闭环性能,并通过仿真实验验证了方法的可行性及有效性.

In this paper,based on the concept of input-output finite gain L_2 stability, a new robust Control Lyapunov Function concept is defined.Then,a robust generalized pointwise min-norm（RGPMN） controller,presenting robustness with respect to both external disturbances and internal uncertainties,is proposed for nonlinear uncertain system with input constraints and its analytical form is studied.One of the key attractions of the new controller is that,by introducing the concept of ＂guide function＂,other closed loop performance requirements besides the closed loop stability can be considered easily during the controller design. Finally,simulations of the new proposed RGPMN control combining the state dependent Riccati equation strategy is conducted and the results show its feasibility and validity.