一类不确定非线性系统的鲁棒输出跟踪控制器

Robust Output Tracking Controller for a Class of Uncertain Nonlinear Systems

研究了一类不确定非线性系统的鲁棒输出跟踪问题 ,目的是在未满足不确定性匹配条件的情况下设计精确跟踪参考轨迹的状态反馈控制器。为了补偿不确定性 ,将鲁棒输出跟踪控制器的设计问题转化为最优控制器的设计问题。证明了鲁棒输出跟踪问题的解可通过最优控制的解而得到 ,通过仿真说明了这种设计方法是行之有效的。

The robust output tracking problem for a class of uncertain nonlinear systems is investigated. The goal is to design a state feedback controller to follow reference trajectory exactly for systems which do not satisfy the conventional matching condition. In order to compensate the uncertainty the robust output tracking controller design problem is translated to the optimal controller design problem. It is proved that the solution to the robust tracking control problem can be gained by the solution to the optimal control problem. The simulation results show that the method presented is effective.