一类不确定非线性系统的鲁棒H_∞控制

ROBUST H_∞ CONTROL OF A CLASS OF NONLINEAR SYSTEMS WITH STRUCTURAL UNCERTAINTY

对于一类具有模型误差和外部干扰的非线性系统,研究了其鲁棒H_∞控制问题.利用Hamilton-Jaccobi不等式的方法给出了一个系统满足鲁棒H_∞性能的新的判定准则,基于该准则设计了一个使闭环系统满足鲁棒H_∞性能的控制律.并且证明了对于线性系统,此结果与经典的结果完全一致.最后,通过仿真验证了所得结果的有效性.

For a class of nonlinear systems with structural uncertainties and external dis- turbances, the robust H∞ control problem is investigated. By the method of Hamilton-Jaccobi inequality, a new robust H∞ performance criterion is derived, based on which, a state-feedback controller is designed. Furthermore, it is proved that results of this paper are completely consistent with the classical ones for linear systems. At last, simulation results are provided to demonstrate the effectiveness of the present results.