具有非匹配不确定性相似组合系统的分散鲁棒控制

Decentralized Robust Control of Similar Composite System With Mismatched Uncertainties

针对一类具有非匹配不确定性的相似组合系统 ,基于块控原理提出了一种变结构控制设计方法。不确定项存在于各子系统的互联项中 ,可以是非线性的或时变的 ,不满足匹配条件 ,但有界 ;利用反演设计方法来处理系统中的非匹配不确定性 ,再用变结构控制方法来改善系统的性能 ;然后 ,利用Lyapunov稳定性定理证明了闭环系统的信号为最终一致有界且系统的状态收敛于滑模超平面的邻域。最后 ,用一个仿真实例证明了所提出的方法的正确性和有效性。

For a class of similar composite systems with uncertainties of unknown bound, a variable structure control (VSC) design method is proposed. The system under consideration features uncertainties in the interconnections of subsystem. These uncertainties may be nonlinear, time varying and bounded, and the uncertainties do not meet the matching conditions. The mismatched uncertainties are overcome by inversion design. The performance of the system is improved by using variable structure control. It is proved that all the signals in the closed loop system are ultimately and uniformly bounded and the states of the subsystems converge to a neighborhood of the switching surfaces. The given simulation example shows the correctness and effectiveness of the proposed scheme.\;