[1]向峥嵘,吕朝霞,陈庆伟,等.时变不确定非线性系统的鲁棒输出跟踪[J].南京理工大学学报(自然科学版),1998,(04):49-52.
 Xiang Zhengrong Lu Zhaoxia Chen Qingwei Hu Weili.Robust Output Tracking for Nonlinear Systems with Time varying Uncertainties[J].Journal of Nanjing University of Science and Technology,1998,(04):49-52.
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时变不确定非线性系统的鲁棒输出跟踪()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
1998年04期
页码:
49-52
栏目:
出版日期:
1998-08-30

文章信息/Info

Title:
Robust Output Tracking for Nonlinear Systems with Time varying Uncertainties
作者:
向峥嵘吕朝霞陈庆伟胡维礼
南京理工大学信息学院, 南京210
Author(s):
Xiang Zhengrong Lu Zhaoxia Chen Qingwei Hu Weili
School of Information, NUST, Nanjing210094
关键词:
非线性系统 线性化 非线性反馈 鲁棒控制 机器人 不确定性
Keywords:
nonlinear systems linearizat ion no nlinear feedback ro bust cont rol robot uncertaint ies
分类号:
TP24,TP273
摘要:
该文研究了一类具有时变参数或扰动的非线性系统的鲁棒轨迹跟踪控制问题。假定系统的标称模型是可以反馈线性化的,通过递推构造闭环系统的Lya-punov函数,给出了该类不确定系统的鲁棒输出跟踪控制器设计方案。该控制器能保证闭环系统的状态是一致有界的,且通过对控制器参数的适当选择,可使闭环系统的输出跟踪达到指定的精度要求。最后由一机器人控制系统的仿真研究表明,该文提出的控制方案具有很强的鲁棒性,控制效果是令人满意的。
Abstract:
T his paper deals with the ro bust t racking cont ro l fo r nonl inear sy stems w ith unknow n unmo delled t ime-vary ing par ameters or disturbances. A design method fo r a robust t racking co nt roller based on the nominal system is pro posed w ith the recursive const ruct ion of a closed-lo op Ly apuno v funct ion. It is show n that all signals w ithin the closedloop sy stem ar e bounded, and adjustable parameters can be turned to satisfy a part icular specification. Finally, the ef fect iveness and r obustness of the proposed cont rol scheme are demo nstr ated by the t racking cont rol for robot contro l systems, the simulaton result s are sat isfactory .

参考文献/References:

1  Mar ino R, T omei P. Ro bust stabilization of feedback linearizable tim e-var y ing uncerta in nonlinear systems. Automatica , 1993, 29( 1) : 181~ 189
2 Slot ine J J E, Li W. 应用非线性控制. 蔡自兴译. 北京: 国防工业出版社, 1992. 148~153
3 Kanelakopoulos I , Ko koto vic P V, Mo rse A S. Systemat ic design of adapt ive control for feedback linear izable sy st ems. IEEE Tr ans Auto Co ntr , 1991, 36( 11) : 1 241~1 253

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备注/Memo

备注/Memo:
国防科技预研行业基金
向峥嵘 男 29岁 博士生
更新日期/Last Update: 2013-03-29