一类不确定非线性系统变结构自适应鲁棒控制

Variable Structure Adaptive Robust Control Algorithm for a Class of Uncertain Nonlinear Systems

本文针对一类不确定非线性系统 ,在假设系统模型参数和不确定性界都未知的情况下 ,提出了一个变结构自适应鲁棒控制算法 ,该算法在确保闭环系统稳定的前提下 ,在线对系统模型参数和不确定性界进行估计 .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 .

A variable structure adaptive robust control algorithm is presented for a class of uncertain nonlinear systems with unknown control gain parameters of the system and unknown bound of uncertainty. An example illustrating the method is included for ship roll stabilization by fin control system. It is shown that the designed system guarantees the performance of robustness with respect to the perturbations and uncertainties.