一类不确定非线性系统的鲁棒输出反馈跟踪(英文)

Robust output feedback tracking for a class of uncertain nonlinear systems

讨论了一类严格反馈型不确定非线性系统的输出反馈跟踪问题 .所讨论的不确定性不满足线性增长条件 .先设计高增益观察器估计输出偏差的微分 ,并将由此获得的信号的符号用于变结构观察器 ,随后用backstepping过程设计输出反馈控制器 .得到的控制器可以保证闭环系统的所有信号都是有界的 ,且跟踪误差可以任意地小 .

An output feedback tracking strategy for a class of uncertain nonlinear systems in strict feedback form is proposed. The uncertain nonlinearities of the system do not need to obey the linear growth conditions. A high gain differential observer is used to estimate the derivatives of the tracking error. Instead of these signals themselves, their signs are used in a special variable structure observer. The controller is then designed via backstepping procedure. It can guarantee the boundedness of all signals in the whole closed loop system. The tracking error can be limited in any desirable range.