摘要
Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers： the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded（UUB） and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
基金
Project(60974047)supported by the National Natural Science Foundation of China
Project(S2012010008967)supported by the Natural Science Foundation of Guangdong Province,China
Project supported by the Science Fund for Distinguished Young Scholars,China
Project supported by 2011 Zhujiang New Star Fund,China
Project(121061)supported by FOK Ying Tung Education Foundation of China
Project supported by the Ministry of Education for New Century Excellent Talent,China
Project(20124420130001)supported by the Doctoral Fund of Ministry of Education of China
