一类不确定非线性系统的指数鲁棒输出跟踪

Exponentially Robust Output Tracking for a Class of Uncertain Nonlinear Systems

研究一类不确定非线性系统的鲁棒输出跟踪控制问题。应用输入 /输出反馈线性化法和李亚普诺夫方法 ,提出一种基于不确定项上界的连续型鲁棒输出跟踪控制器设计方法。该控制器不仅可确保闭环系统的状态一致最终有界 ,使系统输出按指数规律跟踪期望输出 ,而且计算简单 ,更易实现。

The problem of robust output tracking control for a class of uncertain nonlinear systems is investigated. By applying input/output feedback linearization approach and Lyapunov method, a design method of continuous robust output tracking controller is presented based on the upper bounds of the uncertainties. The proposed controller guarantees that the states of the obtained closed loop system are uniformly ultimately bounded and the system output can track the desired output with exponential law. Moreover, the controller is easy to compute and complement. Simulations show that the given method is available and effective.