非线性不确定系统的鲁棒镇定与非线性H~∞控制

The Robust Stabilization of Nonlinear Uncertain Systems and Nonlinear H~∞ Control

研究一类非线性不确定系统的局部鲁棒镇定，提出了不确定系统的Ｌｙａｐｕｎｏｖ型可镇定的鲁棒性概念．在不确定项满足模有界结构条件下，对控制矩阵的不确定性分２种情况，分别从Ｈ∞控制和微分几何角度，给出了非线性Ｈ∞控制与非线性系统Ｌｙａｐｕｎｏｖ型可镇定的充分条件．

The local robust stabilization for a class of nonlinear uncertain systems is considered. The robustness concept of Lyapunov - type stabilizability for Lyapunov-type is defined. Under the uncertainty satisfying structured condition of norm-bounded, two cases for uncertainty in control matrix are taken to discuss Lyapunov-type stabiliz- ability of systems. The sufficient conditions of Lyapunov-type stabilizability are given repectively from points of view of nonlinear H∞ control and from the differential geometry.