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Risk-Informed Model-Free Safe Control of Linear Parameter-Varying Systems
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作者 Babak Esmaeili Hamidreza Modares 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第9期1918-1932,共15页
This paper presents a risk-informed data-driven safe control design approach for a class of stochastic uncertain nonlinear discrete-time systems.The nonlinear system is modeled using linear parameter-varying(LPV)syste... This paper presents a risk-informed data-driven safe control design approach for a class of stochastic uncertain nonlinear discrete-time systems.The nonlinear system is modeled using linear parameter-varying(LPV)systems.A model-based probabilistic safe controller is first designed to guarantee probabilisticλ-contractivity(i.e.,stability and invariance)of the LPV system with respect to a given polyhedral safe set.To obviate the requirement of knowing the LPV system model and to bypass identifying its open-loop model,its closed-loop data-based representation is provided in terms of state and scheduling data as well as a decision variable.It is shown that the variance of the closedloop system,as well as the probability of safety satisfaction,depends on the decision variable and the noise covariance.A minimum-variance direct data-driven gain-scheduling safe control design approach is presented next by designing the decision variable such that all possible closed-loop system realizations satisfy safety with the highest confidence level.This minimum-variance approach is a control-oriented learning method since it minimizes the variance of the state of the closed-loop system with respect to the safe set,and thus minimizes the risk of safety violation.Unlike the certainty-equivalent approach that results in a risk-neutral control design,the minimum-variance method leads to a risk-averse control design.It is shown that the presented direct risk-averse learning approach requires weaker data richness conditions than existing indirect learning methods based on system identification and can lead to a lower risk of safety violation.Two simulation examples along with an experimental validation on an autonomous vehicle are provided to show the effectiveness of the presented approach. 展开更多
关键词 Data-driven control linear parameter-varying systems probabilistic control safe control
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Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization
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作者 Wei Ren Zhuo-Rui Pan +1 位作者 Weiguo Xia Xi-Ming Sun 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第10期2082-2098,共17页
Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement ... Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications.Based on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis problem.Second,we develop a dynamic quantization based approach to verify the realization of the accepting path.The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design.Third,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy.Both abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational complexity.Since each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods.Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots. 展开更多
关键词 Abstraction-based control design dynamic quantization formal methods linear temporal logic(LTL)
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Research on Grid-Connected Control Strategy of Distributed Generator Based on Improved Linear Active Disturbance Rejection Control
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作者 Xin Mao Hongsheng Su Jingxiu Li 《Energy Engineering》 EI 2024年第12期3929-3951,共23页
The virtual synchronous generator(VSG)technology has been proposed to address the problem of system frequency and active power oscillation caused by grid-connected new energy power sources.However,the traditional volt... The virtual synchronous generator(VSG)technology has been proposed to address the problem of system frequency and active power oscillation caused by grid-connected new energy power sources.However,the traditional voltage-current double-closed-loop control used in VSG has the disadvantages of poor disturbance immunity and insufficient dynamic response.In light of the issues above,a virtual synchronous generator voltage outer-loop control strategy based on improved linear autonomous disturbance rejection control(ILADRC)is put forth for consideration.Firstly,an improved first-order linear self-immunity control structure is established for the characteristics of the voltage outer loop;then,the effects of two key control parameters-observer bandwidthω_(0)and controller bandwidthω_(c)on the control system are analyzed,and the key parameters of ILADRC are optimally tuned online using improved gray wolf optimizer-radial basis function(IGWO-RBF)neural network.A simulationmodel is developed using MATLAB to simulate,analyze,and compare the method introduced in this paper.Simulations are performed with the traditional control strategy for comparison,and the results demonstrate that the proposed control method offers superior anti-interference performance.It effectively addresses power and frequency oscillation issues and enhances the stability of the VSG during grid-connected operation. 展开更多
关键词 Virtual synchronous generator(VSG) active power improved linear active disturbance rejection control(ILADRC) radial basis function(RBF)neural networks improved gray wolf optimizer(IGWO)
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Indirect Vector Control of Linear Induction Motors Using Space Vector Pulse Width Modulation 被引量:1
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作者 Arjmand Khaliq Syed Abdul Rahman Kashif +5 位作者 Fahad Ahmad Muhammad Anwar Qaisar Shaheen Rizwan Akhtar Muhammad Arif Shah Abdelzahir Abdelmaboud 《Computers, Materials & Continua》 SCIE EI 2023年第3期6263-6287,共25页
Vector control schemes have recently been used to drive linear induction motors(LIM)in high-performance applications.This trend promotes the development of precise and efficient control schemes for individual motors.T... Vector control schemes have recently been used to drive linear induction motors(LIM)in high-performance applications.This trend promotes the development of precise and efficient control schemes for individual motors.This research aims to present a novel framework for speed and thrust force control of LIM using space vector pulse width modulation(SVPWM)inverters.The framework under consideration is developed in four stages.To begin,MATLAB Simulink was used to develop a detailed mathematical and electromechanical dynamicmodel.The research presents a modified SVPWM inverter control scheme.By tuning the proportional-integral(PI)controller with a transfer function,optimized values for the PI controller are derived.All the subsystems mentioned above are integrated to create a robust simulation of the LIM’s precise speed and thrust force control scheme.The reference speed values were chosen to evaluate the performance of the respective system,and the developed system’s response was verified using various data sets.For the low-speed range,a reference value of 10m/s is used,while a reference value of 100 m/s is used for the high-speed range.The speed output response indicates that themotor reached reference speed in amatter of seconds,as the delay time is between 8 and 10 s.The maximum amplitude of thrust achieved is less than 400N,demonstrating the controller’s capability to control a high-speed LIM with minimal thrust ripple.Due to the controlled speed range,the developed system is highly recommended for low-speed and high-speed and heavy-duty traction applications. 展开更多
关键词 Space vector pulse width modulation linear induction motor proportional-integral controller indirect vector control electromechanical dynamic modeling
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Combined model based on optimized multi-variable grey model and multiple linear regression 被引量:11
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作者 Pingping Xiong Yaoguo Dang +1 位作者 Xianghua wu Xuemei Li 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第4期615-620,共6页
The construction method of background value is improved in the original multi-variable grey model (MGM(1,m)) from its source of construction errors. The MGM(1,m) with optimized background value is used to elimin... The construction method of background value is improved in the original multi-variable grey model (MGM(1,m)) from its source of construction errors. The MGM(1,m) with optimized background value is used to eliminate the random fluctuations or errors of the observational data of all variables, and the combined prediction model together with the multiple linear regression is established in order to improve the simulation and prediction accuracy of the combined model. Finally, a combined model of the MGM(1,2) with optimized background value and the binary linear regression is constructed by an example. The results show that the model has good effects for simulation and prediction. 展开更多
关键词 multi-variable grey model (MGM(1 m)) backgroundvalue OPTIMIZATION multiple linear regression combined predic-tion model.
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Group-Consensus of Hierarchical Containment Control for Linear Multi-Agent Systems
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作者 Jingshu Sang Dazhong Ma Yu Zhou 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第6期1462-1474,共13页
The existing containment control has been widely developed for several years, but ignores the case for large-scale cooperation. The strong coupling of large-scale networks will increase the costs of system detection a... The existing containment control has been widely developed for several years, but ignores the case for large-scale cooperation. The strong coupling of large-scale networks will increase the costs of system detection and maintenance. Therefore, this paper is concerned with an extensional containment control issue, hierarchical containment control. It aims to enable a multitude of followers achieving a novel cooperation in the convex hull shaped by multiple leaders. Firstly, by constructing the three-layer topology, large-scale networks are decoupled. Then,under the condition of directed spanning group-tree, a class of dynamic hierarchical containment control protocol is designed such that the novel group-consensus behavior in the convex hull can be realized. Moreover, the definitions of coupling strength coefficients and the group-consensus parameter in the proposed dynamic hierarchical control protocol enhance the adjustability of systems. Compared with the existing containment control strategy, the proposed hierarchical containment control strategy improves dynamic control performance. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed hierarchical control protocol. 展开更多
关键词 Group-consensus behavior hierarchical containment control linear multi-agent systems three-layer topology
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Optimal Control of Nonlinear Systems Using Experience Inference Human-Behavior Learning
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作者 Adolfo Perrusquía Weisi Guo 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第1期90-102,共13页
Safety critical control is often trained in a simulated environment to mitigate risk.Subsequent migration of the biased controller requires further adjustments.In this paper,an experience inference human-behavior lear... Safety critical control is often trained in a simulated environment to mitigate risk.Subsequent migration of the biased controller requires further adjustments.In this paper,an experience inference human-behavior learning is proposed to solve the migration problem of optimal controllers applied to real-world nonlinear systems.The approach is inspired in the complementary properties that exhibits the hippocampus,the neocortex,and the striatum learning systems located in the brain.The hippocampus defines a physics informed reference model of the realworld nonlinear system for experience inference and the neocortex is the adaptive dynamic programming(ADP)or reinforcement learning(RL)algorithm that ensures optimal performance of the reference model.This optimal performance is inferred to the real-world nonlinear system by means of an adaptive neocortex/striatum control policy that forces the nonlinear system to behave as the reference model.Stability and convergence of the proposed approach is analyzed using Lyapunov stability theory.Simulation studies are carried out to verify the approach. 展开更多
关键词 Experience inference hippocampus learning system linear time-variant(LTV)systems neocortex/striatum learning systems nonlinear systems optimal control
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Multi-Variable Flocking Control for Multi-Agent Systems via a Received Signal Strength Indicator 被引量:1
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作者 Xin-Ping Guan Shao-Min Xing Xiao-Yuan Luo 《Journal of Electronic Science and Technology》 CAS 2011年第3期231-238,共8页
A novel flocking control approach is proposed for multi-agent systems by integrating the variables of velocities, motion directions, and positions of agents. A received signal strength indicator (RSSI) is applied as... A novel flocking control approach is proposed for multi-agent systems by integrating the variables of velocities, motion directions, and positions of agents. A received signal strength indicator (RSSI) is applied as a variable to estimate the inter-distance between agents. A key parameter that contains the local information of agents is defined, and a multi-variable controller is proposed based on the parameter. For the position control of agents, the RSSI is introduced to substitute the distance as a control variable in the systems. The advantages of RSSI include that the relative distance between every two agents can be adjusted through the communication quality under different environments, and it can shun the shortage of the limit of sensors. Simulation studies demonstrate the effectiveness of the proposed control approach. 展开更多
关键词 Index Terms---Flocking multi-agent system multi-variable control received signal strength indicator.
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Integrated Sliding Mode Velocity Control of Linear Permanent Magnet Synchronous Motor with Thrust Ripple Compensation
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作者 Cong Bai Zhonggang Yin +2 位作者 Jing Liu Yanqing Zhang Xiangdong Sun 《CES Transactions on Electrical Machines and Systems》 CSCD 2023年第1期100-109,共10页
In this paper,a compound sliding mode velocity control scheme with a new exponential reaching law(NERL)with thrust ripple observation strategy is proposed to obtain a high performance velocity loop of the linear perma... In this paper,a compound sliding mode velocity control scheme with a new exponential reaching law(NERL)with thrust ripple observation strategy is proposed to obtain a high performance velocity loop of the linear permanent magnet synchronous motor(LPMSM)control system.A sliding mode velocity controller based on NERL is firstly discussed to restrain chattering of the conventional exponential reaching law(CERL).Furthermore,the unavoidable thrust ripple caused by the special structure of linear motor will bring about velocity fluctuation and reduced control performance.Thus,a thrust ripple compensation strategy on the basis of extend Kalman filter(EKF)theory is proposed.The estimated thrust ripple will be introduced into the sliding mode velocity controller to optimize the control accuracy and robustness.The effectiveness of the proposal is validated with experimental results. 展开更多
关键词 linear permanent magnet synchronous motor(LPMSM) Sliding mode velocity control New exponential reaching law Thrust ripple compensation
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Optimal Cooperative Secondary Control for Islanded DC Microgrids via a Fully Actuated Approach
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作者 Yi Yu Guo-Ping Liu +1 位作者 Yi Huang Peng Shi 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第2期405-417,共13页
DC-DC converter-based multi-bus DC microgrids(MGs) in series have received much attention, where the conflict between voltage recovery and current balancing has been a hot topic. The lack of models that accurately por... DC-DC converter-based multi-bus DC microgrids(MGs) in series have received much attention, where the conflict between voltage recovery and current balancing has been a hot topic. The lack of models that accurately portray the electrical characteristics of actual MGs while is controller design-friendly has kept the issue active. To this end, this paper establishes a large-signal model containing the comprehensive dynamical behavior of the DC MGs based on the theory of high-order fully actuated systems, and proposes distributed optimal control based on this. The proposed secondary control method can achieve the two goals of voltage recovery and current sharing for multi-bus DC MGs. Additionally, the simple structure of the proposed approach is similar to one based on droop control, which allows this control technique to be easily implemented in a variety of modern microgrids with different configurations. In contrast to existing studies, the process of controller design in this paper is closely tied to the actual dynamics of the MGs. It is a prominent feature that enables engineers to customize the performance metrics of the system. In addition, the analysis of the stability of the closed-loop DC microgrid system, as well as the optimality and consensus of current sharing are given. Finally, a scaled-down solar and battery-based microgrid prototype with maximum power point tracking controller is developed in the laboratory to experimentally test the efficacy of the proposed control method. 展开更多
关键词 DC microgrids distributed control high-order fully actuated system approach linear quadratic regulator microgrid modeling secondary control
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Predictive active control of building structures using LQR and artificial intelligence
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作者 Nirmal S.Mehta Vishisht Bhaiya +1 位作者 K.A.Patel Ehsan Noroozinejad Farsangi 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2024年第2期489-502,共14页
This study presents a neural network-based model for predicting linear quadratic regulator(LQR)weighting matrices for achieving a target response reduction.Based on the expected weighting matrices,the LQR algorithm is... This study presents a neural network-based model for predicting linear quadratic regulator(LQR)weighting matrices for achieving a target response reduction.Based on the expected weighting matrices,the LQR algorithm is used to determine the various responses of the structure.The responses are determined by numerically analyzing the governing equation of motion using the state-space approach.For training a neural network,four input parameters are considered:the time history of the ground motion,the percentage reduction in lateral displacement,lateral velocity,and lateral acceleration,Output parameters are LQR weighting matrices.To study the effectiveness of an LQR-based neural network(LQRNN),the actual percentage reduction in the responses obtained from using LQRNN is compared with the target percentage reductions.Furthermore,to investigate the efficacy of an active control system using LQRNN,the controlled responses of a system are compared to the corresponding uncontrolled responses.The trained neural network effectively predicts weighting parameters that can provide a percentage reduction in displacement,velocity,and acceleration close to the target percentage reduction.Based on the simulation study,it can be concluded that significant response reductions are observed in the active-controlled system using LQRNN.Moreover,the LQRNN algorithm can replace conventional LQR control with the use of an active control system. 展开更多
关键词 active control system linear quadratic regulator artificial neural networks state-space approach response effectiveness factor RESILIENCE
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The Research and Application of Prediction Control in Multi-variable Control Process
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作者 WEI Shuangying School of Management,Wuhan University of Technology,Wuhan 430070,China 《武汉理工大学学报》 CAS CSCD 北大核心 2006年第S3期850-857,共8页
The modern industrial control objects become more and more complicated,and higher control quality is required, so a series of new control strategies appear,applied,modified and develop quickly.This paper researches a ... The modern industrial control objects become more and more complicated,and higher control quality is required, so a series of new control strategies appear,applied,modified and develop quickly.This paper researches a new control strategy- prediction control-and its application in Multi-Variable Control Process.The research result is worthy for automatic control in pro- cess industry. 展开更多
关键词 prediction control ROLLED optimization FEEDBACK CALIBRATION multi-variable control SYSTEM IDENTIFY SYSTEM control
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Static Output Feedback H_∞ Controllers Design for Descriptor Linear Systems Based on LMI 被引量:3
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作者 马合保 秦超英 《Chinese Quarterly Journal of Mathematics》 CSCD 2000年第2期57-65,共9页
This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of... This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of a static output feedback H ∞ controller are given in terms of LMIs. Furthermore, the design method of H ∞ controllers is provided using the solutions to the LMIs. 展开更多
关键词 descriptor linear systems static output feedback H control linear matrix inequality.
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ADAPTIVE TRACKING CONTROL FOR A CLASS OF NONLINEAR COMPOSITE SYSTEMS *
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作者 姜斌 万健如 +1 位作者 王先来 王江 《Transactions of Tianjin University》 EI CAS 1998年第1期88-91,共4页
In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonli... In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonlinear systems, direct adaptive control schemes are presented to achieve bounded tracking. The proposed control schemes are robust with respect to the uncertainties in interconnection structure as well as subsystem dynamics. A numerical example is given to illustrate the efficiency of this method. 展开更多
关键词 nonlinear large scale systems adaptive tracking control input output linearization
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ROBUST STABILIZATING FOR A OLASS OF UNOERTAIN NONLINEAR INTEROONNECTED SYSTEMS USING VARIABLE STRUCTURE CONTROL
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作者 姜斌 万健如 王先来 《Transactions of Tianjin University》 EI CAS 1999年第1期42-46,共5页
The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (... The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (VSC),two-level and decentralized variable structure control laws for this kind of systems are presented respectively,which achieve asymptotically stabilization despite the uncertainties and disturbances. At last,sirnulation of the disturbed two-pendulum system is given to illustrate the feasibility of proposed technique. 展开更多
关键词 nonlinear interconnected systems UNCERTAINTY STABILIZATION variable structure control input/output linearization
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使用《Linear Control Systems Engineering》的实践
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作者 王林江 徐德胜 +1 位作者 康海珍 顾秀芳 《电气电子教学学报》 2004年第1期30-31,97,共3页
本文介绍了使用原版教材《L inear Con trol Systems Engineering》、英语授课的教学实践及改革措施 ,提出了进一步的实施计划。
关键词 高校 linear control Systems Engineering》 原版教材 英语授课 教学改革 现代控制理论
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BLOCK DIAGONAL FORM AND BLOCK DIAGONAL CONTROLLER OF NONLINEAR SYSTEMS 被引量:5
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作者 Zhao Guorong Zhang Fuen(Dept. of Automatic Control, Harbin Institute of Technology, Harbin, China, 150001)Gu Wenjing(Naval Aeronautical Engineering Academy, Yantai, Shantong, China, 264001) 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 1997年第1期51-57,共7页
A block diagonal form about a nonlinear system is defined. Based on the de finition, a design method ca1led block diagonal controller (BDC) is proPOsed bo feedbacklinearization. Thus, a linearization design of a class... A block diagonal form about a nonlinear system is defined. Based on the de finition, a design method ca1led block diagonal controller (BDC) is proPOsed bo feedbacklinearization. Thus, a linearization design of a class of nonlinear system can be simply re-alized. The result of design has been proved by mathematical simulation of a certain anti-ship missile. 展开更多
关键词 feedback linearIZATION nonlinear systems flight control controllers
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Tracking control for air-breathing hypersonic cruise vehicle based on tangent linearization approach 被引量:7
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作者 Guangbin Cai Guangren Duan +1 位作者 Changhua Hu Bin Zhou 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第3期469-475,共7页
This paper is focused on developing a tracking controller for a hypersonic cruise vehicle using tangent linearization approach.The design of flight control systems for air-breathing hypersonic vehicles is a highly cha... This paper is focused on developing a tracking controller for a hypersonic cruise vehicle using tangent linearization approach.The design of flight control systems for air-breathing hypersonic vehicles is a highly challenging task due to the unique characteristics of the vehicle dynamics.Motivated by recent results on tangent linearization control,the tracking control problem for the hypersonic cruise vehicle is reduced to that of a feedback stabilizing controller design for a linear time-varying system which can be accomplished by a standard design method of frozen-time control.Through a proper model transformation,it can be proven that the tracking error of the designed closed-loop system decays exponentially.Simulation studies are conducted for trimmed cruise conditions of 110000 ft and Mach 15 where the responses of the vehicle to step changes in altitude and velocity are evaluated.The effectiveness of the controller is demonstrated by simulation results. 展开更多
关键词 hypersonic cruise vehicles tangent linearization tracking control nonlinear control.
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Quaternion-based Nonlinear Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle 被引量:5
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作者 ZHA Changliu DING Xilun +1 位作者 YU Yushu WANG Xueqiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2017年第1期77-92,共16页
At present, most controllers of quadrotor unmanned aerial vehicles(UAVs) use Euler angles to express attitude. These controllers suffer a singularity problem when the pitch angle is near 90°, which limits the m... At present, most controllers of quadrotor unmanned aerial vehicles(UAVs) use Euler angles to express attitude. These controllers suffer a singularity problem when the pitch angle is near 90°, which limits the maneuverability of the UAV. To overcome this problem, based on the quatemion attitude representation, a 6 degree of freedom(DOF) nonlinear controller of a quadrotor UAV is designed using the trajectory linearization control(TLC) method. The overall controller contains a position sub-controller and an attitude sub-controller. The two controllers regulate the translational and rotational motion of the UAV, respectively. The controller is improved by using the commanded value instead of the nominal value as the input of the inner control loop. The performance of controller is tested by simulation before and after the improvement, the results show that the improved controller is better. The proposed controller is also tested via numerical simulation and real flights and is compared with the traditional controller based on Euler angles. The test results confirm the feasibility and the robustness of the proposed nonlinear controller. The proposed controller can successfully solve the singularity problem that usually occurs in the current attitude control of UAV and it is easy to be realized. 展开更多
关键词 unmanned aerial vehicle QUATERNION nonlinear control trajectory linearization control SINGULARITY
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Global robust optimal sliding mode control for uncertain affine nonlinear systems 被引量:5
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作者 Pang Haiping Chen Xia 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第4期838-843,共6页
The problem of robustifying linear quadratic regulators (LQRs) for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear sy... The problem of robustifying linear quadratic regulators (LQRs) for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control (GROSMC) is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR. 展开更多
关键词 robust control optimal control sliding mode control nonlinear systems uncertain systems exact linearization.
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