一类非线性不确定相似组合系统的鲁棒输出跟踪

Output Tracking for a Class of Nonlinear Uncertain Interconnected Systems with Similarity

针对一类具有不确定性的非线性相似组合系统，讨论了鲁棒输出跟踪问题·这类相似组合系统的一个显著特点是其标称子系统具有相同的相对度·充分利用相似结构信息，采用坐标变换和变结构控制方法，将其不确定项分为匹配和不匹配两部分进行处理，得到了一类鲁棒控制器以确保系统输出与参考输出间的误差收敛到原点的一个小邻域内且系统状态保持有界·最后的仿真表明了所得结果的有效性·

Similarity for nonlinear composite systems was described. The problem of output tracking was discussed under conditions that the systems discussed possess similar structure and input output linearization and the uncertainties are matched and mismatched. By using coordinate transformation and variable structure control, a robust controller was proposed to guarantee the tracking error converging to a small neighborhood of the origin and the state of systems being bounded. The similarity can simplify the analysis and design of systems.