非线性组合系统的鲁棒分散输出跟踪

Robust Decentralized Output Tracking of a Class of Nonlinear Composite Systems

研究一类具有结构不确定性的非线性相似组合系统的鲁棒分散输出跟踪控制问题。对于系统中的非匹配不确定性 ,利用参数摄动法设计出分散滑模控制器 ,使得跟踪误差收敛到零点的小邻域内。该邻域的半径可表示为设计参数的 K类函数 ,并使系统的状态保持有界。仿真例子进一步验证了所提出设计方法的有效性。

The decentralized output tracking problem of a class of nonlinear similar composite systems is discussed. The parameter perturbation is used to reduce the influence of mismatched uncertainty in the systems. By using the state feedback, a decentralized sliding mode controller is designed to guarantee that the tracking error converges to a small neighborhood of the origin, and the states of the closed-loop system remain bounded as well. A practical simulation proves the effectiveness of the designing method.